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3D view, fixed flickering frustum

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This commit is contained in:
matlabbe
2018-12-13 18:00:19 -05:00
parent 6e8913091d
commit 6bd9dd55b7
1 changed files with 2 additions and 4 deletions
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6
guilib/src/MainWindow.cpp
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@@ -1280,8 +1280,6 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
{
_odometryReceived = true;
// update camera position
_cloudViewer->updateCameraTargetPosition(_odometryCorrection*odom.pose());
if(odom.data().cameraModels().size() && !odom.data().cameraModels()[0].localTransform().isNull())
{
_cloudViewer->updateCameraFrustums(_odometryCorrection*odom.pose(), odom.data().cameraModels());
@@ -1290,6 +1288,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
{
_cloudViewer->updateCameraFrustum(_odometryCorrection*odom.pose(), odom.data().stereoCameraModel());
}
_cloudViewer->updateCameraTargetPosition(_odometryCorrection*odom.pose());
}
_cloudViewer->update();
@@ -1920,8 +1919,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
if(!_odometryReceived && poses.size() && poses.rbegin()->first == stat.refImageId())
{
_cloudViewer->updateCameraTargetPosition(poses.rbegin()->second);
if(poses.rbegin()->first == stat.getLastSignatureData().id())
{
if(stat.getLastSignatureData().sensorData().cameraModels().size() && !stat.getLastSignatureData().sensorData().cameraModels()[0].localTransform().isNull())
@@ -1933,6 +1930,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_cloudViewer->updateCameraFrustum(poses.rbegin()->second, stat.getLastSignatureData().sensorData().stereoCameraModel());
}
}
_cloudViewer->updateCameraTargetPosition(poses.rbegin()->second);
if(_ui->graphicsView_graphView->isVisible())
{