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RGBD/SavedLocalizationIgnored: if true, it is now starting at the origin (0,0,0) instead of null (not linked to graph).

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This commit is contained in:
matlabbe
2020-04-23 11:57:01 -04:00
parent 046e0b7888
commit 00d8375a2e
5 changed files with 41 additions and 26 deletions
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7
guilib/src/DatabaseViewer.cpp
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@@ -3019,6 +3019,11 @@ void DatabaseViewer::regenerateSavedMap()
else
{
dbDriver_->save2DMap(map, xMin, yMin, grid.getCellSize());
Transform lastlocalizationPose;
dbDriver_->loadOptimizedPoses(&lastlocalizationPose);
if(lastlocalizationPose.isNull() && !graphes_.back().empty())
{
// use last pose by default
lastlocalizationPose = graphes_.back().rbegin()->second;
}
dbDriver_->saveOptimizedPoses(graphes_.back(), lastlocalizationPose);
@@ -4345,7 +4350,7 @@ void DatabaseViewer::update(int value,
}
if(data.laserScanRaw().size())
{
{
labelScan->setText(tr("Format=%1 Points=%2 [max=%3] Range=[%4->%5 m] Angle=[%6->%7 rad inc=%8] Has [Color=%9 2D=%10 Normals=%11 Intensity=%12]")
.arg(data.laserScanRaw().formatName().c_str())
.arg(data.laserScanRaw().size())

33
guilib/src/MainWindow.cpp
View File

@@ -1344,7 +1344,6 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
{
_cloudViewer->updateCameraFrustum(_odometryCorrection*odom.pose(), odom.data().stereoCameraModel());
}
_cloudViewer->updateCameraTargetPosition(_odometryCorrection*odom.pose());
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
if(_preferencesDialog->isFramesShown())
{
@@ -1355,7 +1354,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
_cloudViewer->removeLine("odom_to_base_link");
}
#endif
_cloudViewer->updateCameraTargetPosition(_odometryCorrection*odom.pose());
}
_cloudViewer->update();
@@ -2041,6 +2040,21 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
UDEBUG("time= %d ms", time.restart());
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
if(_preferencesDialog->isFramesShown())
{
_cloudViewer->addOrUpdateCoordinate("map_frame", Transform::getIdentity(), 0.5, false);
_cloudViewer->addOrUpdateCoordinate("odom_frame", _odometryCorrection, 0.35, false);
_cloudViewer->addOrUpdateLine("map_to_odom", Transform::getIdentity(), _odometryCorrection, qRgb(255, 128, 0), false, false);
}
else
{
_cloudViewer->removeLine("map_to_odom");
_cloudViewer->removeCoordinate("odom_frame");
_cloudViewer->removeCoordinate("map_frame");
}
#endif
if(!_odometryReceived && poses.size() && poses.rbegin()->first == stat.refImageId())
{
if(poses.rbegin()->first == stat.getLastSignatureData().id())
@@ -2063,21 +2077,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
}
}
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
if(_preferencesDialog->isFramesShown())
{
_cloudViewer->addOrUpdateCoordinate("map_frame", Transform::getIdentity(), 0.5, false);
_cloudViewer->addOrUpdateCoordinate("odom_frame", _odometryCorrection, 0.35, false);
_cloudViewer->addOrUpdateLine("map_to_odom", Transform::getIdentity(), _odometryCorrection, qRgb(255, 128, 0), false, false);
}
else
{
_cloudViewer->removeLine("map_to_odom");
_cloudViewer->removeCoordinate("odom_frame");
_cloudViewer->removeCoordinate("map_frame");
}
#endif
if(_cachedSignatures.contains(0) && stat.refImageId()>0)
{
if(poses.find(stat.refImageId())!=poses.end())