Subversion Repositories seema-scanner

Rev

Rev 248 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 248 Rev 250
Line 78... Line 78...
78 
    Eigen::Affine3f Transform;
 78 
    Eigen::Affine3f Transform;
79 
    cv::cv2eigen(TransformCV, Transform.matrix());
 79 
    cv::cv2eigen(TransformCV, Transform.matrix());
80 
 
 80 
 
81 
    visualizer->updatePointCloudPose(stringId, Transform.inverse());
 81 
    visualizer->updatePointCloudPose(stringId, Transform.inverse());
82 
 
 82 
 
83 
    this->repaint();
 83 
    this->update();
84 
 
 84 
 
85 
    emit pointCloudDataChanged();
 85 
    emit pointCloudDataChanged();
86 
 
 86 
 
87 
}
 87 
}
88 
 
 88 
 
Line 98... Line 98...
98 
        visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);
 98 
        visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);
99 
        visualizer->setPointCloudRenderingProperties(
 99 
        visualizer->setPointCloudRenderingProperties(
100 
                    pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);
 100 
                    pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);
101 
     }
 101 
     }
102 
 
 102 
 
103 
    this->repaint();
 103 
    this->update();
104 
    emit pointCloudDataChanged();
 104 
    emit pointCloudDataChanged();
105 
 
 105 
 
106 
}
 106 
}
107 
 
 107 
 
108 
void SMPointCloudWidget::removePointCloud(int id){
 108 
void SMPointCloudWidget::removePointCloud(int id){
Line 110... Line 110...
110 
    std::string stringId = QString::number(id).toStdString();
 110 
    std::string stringId = QString::number(id).toStdString();
111 
//    std::string stringId = QString("id%1").arg(id).toStdString();
 111 
//    std::string stringId = QString("id%1").arg(id).toStdString();
112 
 
 112 
 
113 
    visualizer->removePointCloud(stringId);
 113 
    visualizer->removePointCloud(stringId);
114 
 
 114 
 
115 
    this->repaint();
 115 
    this->update();
116 
    emit pointCloudDataChanged();
 116 
    emit pointCloudDataChanged();
117 
 
 117 
 
118 
}
 118 
}
119 
 
 119 
 
120 
void SMPointCloudWidget::removeAllPointClouds(){
 120 
void SMPointCloudWidget::removeAllPointClouds(){
Line 192... Line 192...
192 
    lineCoefficients.values[4] = v[1];
 192 
    lineCoefficients.values[4] = v[1];
193 
    lineCoefficients.values[5] = v[2];
 193 
    lineCoefficients.values[5] = v[2];
194 
    visualizer->removeShape("line");
 194 
    visualizer->removeShape("line");
195 
    visualizer->addLine(lineCoefficients, "line");
 195 
    visualizer->addLine(lineCoefficients, "line");
196 
 
 196 
 
197 
    this->repaint();
 197 
    this->update();
- 
 
 198 
 
- 
 
 199 
}
- 
 
 200 
 
- 
 
 201 
void SMPointCloudWidget::update(){
198 
 
 202 
 
- 
 
 203 
    this->GetRenderWindow()->Render();
- 
 
 204 
    QVTKOpenGLWidget::update();
199 
}
 205 
}
200 
 
 206 
 
201 
SMPointCloudWidget::~SMPointCloudWidget(){
 207 
SMPointCloudWidget::~SMPointCloudWidget(){
202 
 
 208 
 
203 
    //delete visualizer;
 209 
    //delete visualizer;