29 #include "ui_loopClosureViewer.h"
39 #include <QtCore/QTimer>
49 ui_ =
new Ui_loopClosureViewer();
51 ui_->cloudViewerTransform->setCameraLockZ(
false);
53 connect(
ui_->checkBox_rawCloud, SIGNAL(clicked()),
this, SLOT(
updateView()));
78 if(!
ui_->checkBox_rawCloud->isChecked())
85 UDEBUG(
"decimation = %d", decimation);
86 UDEBUG(
"maxDepth = %f", maxDepth);
87 UDEBUG(
"minDepth = %d", minDepth);
104 UDEBUG(
"t= %s",
t.prettyPrint().c_str());
105 ui_->label_transform->setText(QString(
"(%1)").
arg(
t.prettyPrint().c_str()));
109 pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudA, cloudB;
114 pcl::PointCloud<pcl::PointXYZ>::Ptr scanA, scanB;
118 ui_->label_idA->setText(QString(
"[%1 (%2) -> %3 (%4)]").
arg(
sB_.
id()).
arg(cloudB->size()).arg(
sA_.
id()).arg(cloudA->size()));
122 ui_->cloudViewerTransform->addCloud(
"cloud0", cloudA);
127 ui_->cloudViewerTransform->addCloud(
"cloud1", cloudB);
131 ui_->cloudViewerTransform->addCloud(
"scan0", scanA);
136 ui_->cloudViewerTransform->addCloud(
"scan1", scanB);
141 UERROR(
"loop transform is null !?!?");
142 ui_->cloudViewerTransform->removeAllClouds();
144 ui_->cloudViewerTransform->refreshView();
151 QWidget::showEvent( event );
152 QTimer::singleShot(500,
this, SLOT(
updateView()));