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DbViewer: don't modify ground truth values (previously they were aligned with root)

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matlabbe
2018-03-12 20:57:34 -04:00
parent ffe50dad22
commit ba011169b8
1 changed files with 0 additions and 14 deletions
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14
guilib/src/DatabaseViewer.cpp
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@@ -5215,20 +5215,6 @@ void DatabaseViewer::updateGraphView()
} }
} }
delete optimizer; delete optimizer;
if(uContains(groundTruthPoses_, fromId) && uContains(posesOut, fromId))
{
// adjust the ground truth to fit the root
Transform t = posesOut.at(fromId) * groundTruthPoses_.at(fromId).inverse();
for(std::map<int, Transform>::iterator iter=groundTruthPoses_.begin(); iter!=groundTruthPoses_.end(); ++iter)
{
iter->second = t * iter->second;
}
}
else if(groundTruthPoses_.size())
{
UWARN("Could not find ground truth for root node %d", fromId);
}
} }
if(graphes_.size()) if(graphes_.size())
{ {