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  • Committer: Staffan Gimåker
  • Date: 2010-06-08 14:51:28 UTC
  • Revision ID: staffan@gimaker.se-20100608145128-df8d8it7ijxw03ib
Added experimental support for 3D occupancy grids.

Occupied cells (occupancy value larger than 0.5) are drawn as opaque cubes;
free and unexplored is not drawn at all.

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src/RendererRelayImpl.cc
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#include "PointCloud.hh"
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#include "LineCloud.hh"
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#include "OccupancyGrid2D.hh"
 
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#include "OccupancyGrid3D.hh"
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#include "Label.hh"
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#include "TriMesh.hh"
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#include "Polyline.hh"
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#include "renderer/api/LabelProxy.hh"
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#include "renderer/api/PolygonProxy.hh"
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#include "renderer/api/OccupancyGrid2DProxy.hh"
 
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#include "renderer/api/OccupancyGrid3DProxy.hh"
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#include "renderer/api/DummyProxy.hh"
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#include "renderer/api/PolylineProxy.hh"
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            boost::bind(&OccupancyGrid2DProxy::set_cells, proxy, _2)));
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}
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void RendererRelay::Impl::visit(OccupancyGrid3D *object)
 
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{
 
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    OccupancyGrid3DProxy *proxy = new OccupancyGrid3DProxy(
 
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        *m_renderer, object->get_cell_size());
 
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    _proxy = proxy;
 
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    //proxy->set_cells(object->get_cells());
 
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    record_connection(
 
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        object,
 
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        object->m_on_cells_set.connect(
 
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            boost::bind(&OccupancyGrid3DProxy::set_cells, proxy, _2)));
 
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}
 
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void RendererRelay::Impl::visit(Label *object)
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{
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    LabelProxy *proxy = new LabelProxy(*m_renderer);