Subversion Repositories seema-scanner

Rev

Rev 45 | Rev 47 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 45 Rev 46
Line 43... Line 43...
43 
    //time.start();
 43 
    //time.start();
44 
}
 44 
}
45 
 
 45 
 
46 
void SMPointCloudWidget::addPointCloud(SMPointCloud pointCloud, int id){
 46 
void SMPointCloudWidget::addPointCloud(SMPointCloud pointCloud, int id){
47 
 
 47 
 
48 
    //std::string stringId = QString::number(id).toStdString();
 48 
    std::string stringId = QString::number(id).toStdString();
49 
    std::string stringId = QString("id%1").arg(id).toStdString();
 49 
//    std::string stringId = QString("id%1").arg(id).toStdString();
50 
 
 50 
 
51 
    // Note: using the color handler makes a copy of the rgb fields
 51 
    // Note: using the color handler makes a copy of the rgb fields
52 
    colorHandler->setInputCloud(pointCloud.pointCloud);
 52 
    colorHandler->setInputCloud(pointCloud.pointCloud);
53 
 
 53 
 
54 
    visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);
 54 
    visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);
Line 59... Line 59...
59 
    cv::Mat(pointCloud.R).copyTo(TransformCV.colRange(0, 3));
 59 
    cv::Mat(pointCloud.R).copyTo(TransformCV.colRange(0, 3));
60 
    cv::Mat(pointCloud.T).copyTo(TransformCV.col(3));
 60 
    cv::Mat(pointCloud.T).copyTo(TransformCV.col(3));
61 
    Eigen::Affine3f Transform;
 61 
    Eigen::Affine3f Transform;
62 
    cv::cv2eigen(TransformCV, Transform.matrix());
 62 
    cv::cv2eigen(TransformCV, Transform.matrix());
63 
 
 63 
 
64 
    visualizer->updatePointCloudPose(stringId, Transform.inverse());
 64 
    //visualizer->updatePointCloudPose(stringId, Transform.inverse());
65 
 
 65 
 
66 
    this->update();
 66 
    this->update();
67 
    emit pointCloudDataChanged();
 67 
    emit pointCloudDataChanged();
68 
 
 68 
 
69 
}
 69 
}
70 
 
 70 
 
71 
void SMPointCloudWidget::updatePointCloud(SMPointCloud pointCloud, int id){
 71 
void SMPointCloudWidget::updatePointCloud(SMPointCloud pointCloud, int id){
72 
 
 72 
 
73 
    //std::string stringId = QString::number(id).toStdString();
 73 
    std::string stringId = QString::number(id).toStdString();
74 
    std::string stringId = QString("id%1").arg(id).toStdString();
 74 
//    std::string stringId = QString("id%1").arg(id).toStdString();
75 
 
 75 
 
76 
    // Note: using the color handler makes a copy of the rgb fields
 76 
    // Note: using the color handler makes a copy of the rgb fields
77 
    colorHandler->setInputCloud(pointCloud.pointCloud);
 77 
    colorHandler->setInputCloud(pointCloud.pointCloud);
78 
 
 78 
 
79 
    if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){
 79 
    if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){
Line 86... Line 86...
86 
 
 86 
 
87 
}
 87 
}
88 
 
 88 
 
89 
void SMPointCloudWidget::removePointCloud(int id){
 89 
void SMPointCloudWidget::removePointCloud(int id){
90 
 
 90 
 
91 
    //std::string stringId = QString::number(id).toStdString();
 91 
    std::string stringId = QString::number(id).toStdString();
92 
    std::string stringId = QString("id%1").arg(id).toStdString();
 92 
//    std::string stringId = QString("id%1").arg(id).toStdString();
93 
 
 93 
 
94 
    visualizer->removePointCloud(stringId);
 94 
    visualizer->removePointCloud(stringId);
95 
 
 95 
 
96 
    this->update();
 96 
    this->update();
97 
    emit pointCloudDataChanged();
 97 
    emit pointCloudDataChanged();