Changes in opengl object export

Added option for showing/hiding landmarks IDs when exporting map to an opengl object. Exported Keyframes now show their IDs. Fixed gcc warning with Keyframe ID. Changed edges color in order to make them different from the standard XY grid plane lines.
MRPT · Feb 21, 2014 · 4c81001 · 4c81001
1 parent 8ea894b
commit 4c81001
Show file tree

Hide file tree

Showing 3 changed files with 19 additions and 12 deletions.
diff --git a/libs/srba/include/mrpt/srba/RbaEngine.h b/libs/srba/include/mrpt/srba/RbaEngine.h
@@ -218,14 +218,16 @@ namespace srba
 				span_tree_max_depth(static_cast<size_t>(-1)),
 				draw_unknown_feats(true),
 				draw_unknown_feats_ellipses(true),
-				draw_unknown_feats_ellipses_quantiles(1)
+				draw_unknown_feats_ellipses_quantiles(1),
+				show_unknown_feats_ids(true)
 			{
 			}
 
 			size_t span_tree_max_depth; //!< Maximum spanning tree depth for reconstructing relative poses (default=-1 : infinity)
 			bool   draw_unknown_feats;  //!< Draw features with non-fixed rel.pos as well?
 			bool   draw_unknown_feats_ellipses;
 			double draw_unknown_feats_ellipses_quantiles;
+			bool   show_unknown_feats_ids;
 		};
 
 		/** Build an opengl representation of the current state of this RBA problem

diff --git a/libs/srba/include/mrpt/srba/impl/export_opengl.h b/libs/srba/include/mrpt/srba/impl/export_opengl.h
@@ -51,7 +51,8 @@ void RbaEngine<KF2KF_POSE_TYPE,LM_TYPE,OBS_TYPE,RBA_OPTIONS>::build_opengl_repre
 
 				mrpt::opengl::CSetOfObjectsPtr o = mrpt::opengl::stock_objects::CornerXYZSimple(0.75,2.0);
 				o->setPose(p);
-				o->setName( mrpt::format("%d",itP->first).c_str() );
+				o->setName( mrpt::format("%d",int(itP->first)).c_str() );
+				o->enableShowName();
 				out_scene->insert(o);
 			}
 			// And a bigger one for the root:
@@ -63,6 +64,7 @@ void RbaEngine<KF2KF_POSE_TYPE,LM_TYPE,OBS_TYPE,RBA_OPTIONS>::build_opengl_repre
 
 			// Draw all edges between frames:
 			mrpt::opengl::CSetOfLinesPtr gl_edges = mrpt::opengl::CSetOfLines::Create();
+			gl_edges->setColor(1,0,1); // Magenta, in order to not confuse them with the standard lines of a grid plane
 #ifdef SRBA_WORKAROUND_MSVC9_DEQUE_BUG
 			for (typename rba_problem_state_t::k2k_edges_deque_t::const_iterator itEdge2 = rba_state.k2k_edges.begin();itEdge2!=rba_state.k2k_edges.end();++itEdge2)
 			{

diff --git a/libs/srba/include/mrpt/srba/impl/export_opengl_landmark_renderers.h b/libs/srba/include/mrpt/srba/impl/export_opengl_landmark_renderers.h
@@ -97,16 +97,19 @@ template <> struct LandmarkRendererBase<landmark_rendering_as_point>
 			base_pose.composePoint(p_wrt_base,p_global);
 
 			gl_lms->insertPoint(p_global.x,p_global.y,p_global.z);
-
-			// Add text label:
-			mrpt::opengl::CText3DPtr  gl_txt = mrpt::opengl::CText3D::Create(
-				mrpt::format("%u",static_cast<unsigned int>( itLM->first)),
-				"mono", 0.15,
-				mrpt::opengl::NICE );
-			gl_txt->setPose(CPose3D(p_global.x,p_global.y,p_global.z,DEG2RAD(-90),DEG2RAD(0),DEG2RAD(90)));
-			gl_txt->setColor( is_known ? col_known_lms : col_unknown_lms );
-
-			scene.insert(gl_txt);
+
+			if( options.show_unknown_feats_ids )
+			{
+				// Add text label:
+				mrpt::opengl::CText3DPtr  gl_txt = mrpt::opengl::CText3D::Create(
+					mrpt::format("%u",static_cast<unsigned int>( itLM->first)),
+					"mono", 0.15,
+					mrpt::opengl::NICE );
+				gl_txt->setPose(CPose3D(p_global.x,p_global.y,p_global.z,DEG2RAD(-90),DEG2RAD(0),DEG2RAD(90)));
+				gl_txt->setColor( is_known ? col_known_lms : col_unknown_lms );
+
+				scene.insert(gl_txt);
+			}
 
 			// Uncertainty ellipse?
 			if (options.draw_unknown_feats_ellipses && lms_to_draw_inf_covs[i] )