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Optimizer: fixed bad g2o optimizations on 2d slam when there are 3D landmarks (#384). DBViewer: landmarks can be now visualized.

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matlabbe
2019-04-26 14:03:25 -04:00
parent f9b7b54454
commit a5350c4891
11 changed files with 289 additions and 285 deletions
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2
guilib/src/MainWindow.cpp
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@@ -2646,7 +2646,7 @@ void MainWindow::updateMapCloud(
for(std::map<int, Transform>::const_iterator iter=posesIn.begin(); iter!=posesIn.end() && iter->first<0; ++iter)
{
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
_cloudViewer->addOrUpdateCoordinate(uFormat("landmark_%d", -iter->first), iter->second, _preferencesDialog->getMarkerLength()<=0?0.1:_preferencesDialog->getMarkerLength()/2.0, false);
_cloudViewer->addOrUpdateCoordinate(uFormat("landmark_%d", -iter->first), iter->second, _preferencesDialog->landmarkVisSize()>0.0?_preferencesDialog->landmarkVisSize():_preferencesDialog->getMarkerLength()<=0?0.1:_preferencesDialog->getMarkerLength()/2.0, false);
#endif
if(_preferencesDialog->isLabelsShown())
{