Method loadGraph

octovis/src/ViewerGui.cpp:558–619

}

void ViewerGui::loadGraph(bool completeGraph) {

  ui.actionSettings->setEnabled(true);
  ui.actionPointcloud->setEnabled(true);
  ui.actionPointcloud->setChecked(false);
  ui.actionTrajectory->setEnabled(true);
  ui.actionOctree_cells->setEnabled(true);
  ui.actionOctree_cells->setChecked(true);
  ui.actionOctree_structure->setEnabled(true);
  ui.actionOctree_structure->setChecked(false);
  ui.actionFree->setChecked(false);
  ui.actionFree->setEnabled(true);
  ui.actionReload_Octree->setEnabled(true);
  ui.actionConvert_ml_tree->setEnabled(true);

  unsigned graphSize = m_scanGraph->size();
  unsigned currentScan;

  if (completeGraph){
    fprintf(stderr, "loadGraph:: generating octree from complete graph.\n" );
    m_nextScanToAdd = m_scanGraph->end();
    generateOctree();
    currentScan = graphSize;
  }
  else{
    m_nextScanToAdd = m_scanGraph->begin();

    //if (m_ocTree) delete m_ocTree;
    //m_ocTree = new octomap::OcTree(m_octreeResolution);
    OcTree* tree = new octomap::OcTree(m_octreeResolution);
    this->addOctree(tree, DEFAULT_OCTREE_ID);

    addNextScan();

    currentScan = 1;
  }

  m_glwidget->resetView();
  QApplication::restoreOverrideCursor();

  emit changeNumberOfScans(graphSize);
  emit changeCurrentScan(currentScan);
  showInfo("Done (" +QString::number(currentScan)+ " of "+ QString::number(graphSize)+" nodes)", true);

  if (!m_trajectoryDrawer){
    m_trajectoryDrawer = new TrajectoryDrawer();
  }
  m_trajectoryDrawer->setScanGraph(*m_scanGraph);

  if (!m_pointcloudDrawer){
    m_pointcloudDrawer = new PointcloudDrawer();
  }
  m_pointcloudDrawer->setScanGraph(*m_scanGraph);

  m_cameraFollowMode->setScanGraph(m_scanGraph);

  if (ui.actionTrajectory->isChecked())
    m_glwidget->addSceneObject(m_trajectoryDrawer);