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MainWindow: add fake frustum when only lidar is received

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This commit is contained in:
matlabbe
2021-01-22 12:51:47 -05:00
parent aa31a900fb
commit 47e40ef34d
2 changed files with 48 additions and 0 deletions
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1
corelib/src/Memory.cpp
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@@ -4205,6 +4205,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
"full calibration. If images are already rectified, set %s parameter back to true.", "full calibration. If images are already rectified, set %s parameter back to true.",
(int)i, (int)i,
Parameters::kRtabmapImagesAlreadyRectified().c_str()); Parameters::kRtabmapImagesAlreadyRectified().c_str());
std::cout << data.cameraModels()[i] << std::endl;
return 0; return 0;
} }
} }

47
guilib/src/MainWindow.cpp
View File

@@ -1410,6 +1410,30 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
{ {
_cloudViewer->updateCameraFrustum(_odometryCorrection*odom.pose(), odom.data().stereoCameraModel()); _cloudViewer->updateCameraFrustum(_odometryCorrection*odom.pose(), odom.data().stereoCameraModel());
} }
else if(!odom.data().laserScanRaw().isEmpty() ||
!odom.data().laserScanCompressed().isEmpty())
{
Transform scanLocalTransform;
if(!odom.data().laserScanRaw().isEmpty())
{
scanLocalTransform = odom.data().laserScanRaw().localTransform();
}
else
{
scanLocalTransform = odom.data().laserScanCompressed().localTransform();
}
//fake frustum
CameraModel model(
2,
2,
2,
1.5,
scanLocalTransform*CameraModel::opticalRotation(),
0,
cv::Size(4,3));
_cloudViewer->updateCameraFrustum(_odometryCorrection*odom.pose(), model);
}
#if PCL_VERSION_COMPARE(>=, 1, 7, 2) #if PCL_VERSION_COMPARE(>=, 1, 7, 2)
if(_preferencesDialog->isFramesShown()) if(_preferencesDialog->isFramesShown())
{ {
@@ -2182,6 +2206,29 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
{ {
_cloudViewer->updateCameraFrustum(poses.rbegin()->second, stat.getLastSignatureData().sensorData().stereoCameraModel()); _cloudViewer->updateCameraFrustum(poses.rbegin()->second, stat.getLastSignatureData().sensorData().stereoCameraModel());
} }
else if(!stat.getLastSignatureData().sensorData().laserScanRaw().isEmpty() ||
!stat.getLastSignatureData().sensorData().laserScanCompressed().isEmpty())
{
Transform scanLocalTransform;
if(!stat.getLastSignatureData().sensorData().laserScanRaw().isEmpty())
{
scanLocalTransform = stat.getLastSignatureData().sensorData().laserScanRaw().localTransform();
}
else
{
scanLocalTransform = stat.getLastSignatureData().sensorData().laserScanCompressed().localTransform();
}
//fake frustum
CameraModel model(
2,
2,
2,
1.5,
scanLocalTransform*CameraModel::opticalRotation(),
0,
cv::Size(4,3));
_cloudViewer->updateCameraFrustum(poses.rbegin()->second, model);
}
} }
_cloudViewer->updateCameraTargetPosition(poses.rbegin()->second); _cloudViewer->updateCameraTargetPosition(poses.rbegin()->second);