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g2o/gps support: added edge_se3_xyzprior.h to rtabmap repo. Fixed build for kinetic g2o version.

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matlabbe
2019-01-03 15:49:25 -05:00
parent 248d6f1167
commit 0f8c70bcdf
8 changed files with 363 additions and 163 deletions
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10
guilib/src/MainWindow.cpp
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@@ -1904,14 +1904,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
{
uInsert(labels, std::pair<int, std::string>(*iter)); // overwrite labels because they could have been modified
}
if(_ui->graphicsView_graphView->getWorldMapRotation()==0.0f &&
stat.getLastSignatureData().sensorData().gps().stamp()!=0.0 &&
stat.poses().find(stat.getLastSignatureData().id())!=stat.poses().end())
{
float bearing = (float)((-(stat.getLastSignatureData().sensorData().gps().bearing()-90))*M_PI/180.0);
float gpsRotationOffset = stat.poses().at(stat.getLastSignatureData().id()).theta()-bearing;
_ui->graphicsView_graphView->setWorldMapRotation(gpsRotationOffset);
}
std::map<int, Transform> poses = stat.poses();
@@ -2402,7 +2394,7 @@ void MainWindow::updateMapCloud(
}
}
if(id != 0 && poses.find(id) == poses.end())
if(poses.find(id) == poses.end())
{
if(_cloudViewer->getCloudVisibility(iter.key()))
{