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DatabaseViewer: fixed ICP refined clouds superposition error

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This commit is contained in:
matlabbe
2015-08-12 10:49:11 -04:00
parent abdd3de773
commit a8a3566fed
1 changed files with 8 additions and 8 deletions
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16
guilib/src/DatabaseViewer.cpp
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@@ -2249,12 +2249,12 @@ void DatabaseViewer::updateConstraintView(
if(cloudFrom->size())
{
ui_->constraintsViewer->addOrUpdateCloud("words0", cloudFrom, Transform::getIdentity(), Qt::red);
ui_->constraintsViewer->addOrUpdateCloud("cloud0", cloudFrom, Transform::getIdentity(), Qt::red);
}
if(cloudTo->size())
{
cloudTo = rtabmap::util3d::transformPointCloud(cloudTo, t);
ui_->constraintsViewer->addOrUpdateCloud("words1", cloudTo, Transform::getIdentity(), Qt::cyan);
ui_->constraintsViewer->addOrUpdateCloud("cloud1", cloudTo, Transform::getIdentity(), Qt::cyan);
}
}
if(ui_->checkBox_show3DWords->isChecked())
@@ -2297,28 +2297,28 @@ void DatabaseViewer::updateConstraintView(
if(cloudFrom->size())
{
ui_->constraintsViewer->addOrUpdateCloud("cloud0", cloudFrom, Transform::getIdentity(), Qt::red);
ui_->constraintsViewer->addOrUpdateCloud("words0", cloudFrom, Transform::getIdentity(), Qt::red);
}
else
{
UWARN("Empty 3D words for node %d", link.from());
ui_->constraintsViewer->removeCloud("cloud0");
ui_->constraintsViewer->removeCloud("words0");
}
if(cloudTo->size())
{
ui_->constraintsViewer->addOrUpdateCloud("cloud1", cloudTo, Transform::getIdentity(), Qt::cyan);
ui_->constraintsViewer->addOrUpdateCloud("words1", cloudTo, Transform::getIdentity(), Qt::cyan);
}
else
{
UWARN("Empty 3D words for node %d", link.to());
ui_->constraintsViewer->removeCloud("cloud1");
ui_->constraintsViewer->removeCloud("words1");
}
}
else
{
UERROR("Not found signature %d or %d in RAM", link.from(), link.to());
ui_->constraintsViewer->removeCloud("cloud0");
ui_->constraintsViewer->removeCloud("cloud1");
ui_->constraintsViewer->removeCloud("words0");
ui_->constraintsViewer->removeCloud("words1");
}
}
}