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MainWindow: added /map and /odom coordinate frames

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matlabbe
2020-03-10 10:30:42 -04:00
parent 6133399b2e
commit bfc64c451a
1 changed files with 13 additions and 0 deletions
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13
guilib/src/MainWindow.cpp
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@@ -1340,6 +1340,9 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
_cloudViewer->updateCameraFrustum(_odometryCorrection*odom.pose(), odom.data().stereoCameraModel());
}
_cloudViewer->updateCameraTargetPosition(_odometryCorrection*odom.pose());
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
_cloudViewer->addOrUpdateLine("odom_to_base_link", _odometryCorrection, _odometryCorrection*odom.pose(), Qt::yellow, false, false);
#endif
}
_cloudViewer->update();
@@ -2017,6 +2020,7 @@ 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())
@@ -2025,6 +2029,12 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
}
}
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
_cloudViewer->addOrUpdateCoordinate("map_frame", Transform::getIdentity(), 0.5, false);
_cloudViewer->addOrUpdateCoordinate("odom_frame", _odometryCorrection, 0.35, false);
_cloudViewer->addOrUpdateLine("map_to_odom", Transform::getIdentity(), _odometryCorrection, Qt::yellow, false, false);
#endif
if(_cachedSignatures.contains(0) && stat.refImageId()>0)
{
if(poses.find(stat.refImageId())!=poses.end())
@@ -4683,6 +4693,9 @@ void MainWindow::newDatabase()
_newDatabasePath.clear();
_newDatabasePathOutput.clear();
_databaseUpdated = false;
_cloudViewer->removeLine("map_to_odom");
_cloudViewer->removeLine("odom_to_base_link");
_cloudViewer->removeCoordinate("odom_frame");
ULOGGER_DEBUG("");
this->clearTheCache();
std::string databasePath = (_preferencesDialog->getWorkingDirectory()+QDir::separator()+QString("rtabmap.tmp.db")).toStdString();