i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
matlabbe
2018-03-12 20:57:34 -04:00
parent ffe50dad22
commit ba011169b8
1 changed files with 0 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
guilib/src/DatabaseViewer.cpp
View File

@@ -5215,20 +5215,6 @@ void DatabaseViewer::updateGraphView()
}
}
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())
{