i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-11 22:10:21 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed regression when MapVisibility is not shown, poses are missing when exporting clouds #1625

Browse Source
This commit is contained in:
matlabbe
2025-12-01 19:42:27 -08:00
parent 16c0d2fec5
commit c7da53ac3d
2 changed files with 9 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
guilib/include/rtabmap/gui/MapVisibilityWidget.h
+1
View File
@@ -44,6 +44,7 @@ public:
void setMap(const std::map<int, Transform> & poses, const std::map<int, bool> & mask);
std::map<int, Transform> getVisiblePoses() const;
bool isEmpty() const {return _poses.empty();}
void clear();
guilib/src/MainWindow.cpp
+8 -5
View File
@@ -755,7 +755,7 @@ void MainWindow::setupMainLayout(bool vertical)
std::map<int, Transform> MainWindow::currentVisiblePosesMap() const
{
return _ui->widget_mapVisibility->getVisiblePoses();
return !_ui->widget_mapVisibility->isEmpty()?_ui->widget_mapVisibility->getVisiblePoses():_currentPosesMap;
}
void MainWindow::setCloudViewer(rtabmap::CloudViewer * cloudViewer)
@@ -2891,6 +2891,9 @@ void MainWindow::updateMapCloud(
_ui->widget_mapVisibility->setMap(nodePoses, posesMask);
UDEBUG("Updated map visibility with %ld poses", nodePoses.size());
}
else {
_ui->widget_mapVisibility->clear();
}
if(groundTruths.size() && _ui->actionAnchor_clouds_to_ground_truth->isChecked())
{
@@ -8043,7 +8046,7 @@ void MainWindow::exportClouds()
return;
}
std::map<int, Transform> poses = _ui->widget_mapVisibility->getVisiblePoses();
std::map<int, Transform> poses = !_ui->widget_mapVisibility->isEmpty()?_ui->widget_mapVisibility->getVisiblePoses():_currentPosesMap;
// Use ground truth poses if current clouds are using them
if(_currentGTPosesMap.size() && _ui->actionAnchor_clouds_to_ground_truth->isChecked())
@@ -8080,7 +8083,7 @@ void MainWindow::viewClouds()
return;
}
std::map<int, Transform> poses = _ui->widget_mapVisibility->getVisiblePoses();
std::map<int, Transform> poses = !_ui->widget_mapVisibility->isEmpty()?_ui->widget_mapVisibility->getVisiblePoses():_currentPosesMap;
// Use ground truth poses if current clouds are using them
if(_currentGTPosesMap.size() && _ui->actionAnchor_clouds_to_ground_truth->isChecked())
@@ -8156,7 +8159,7 @@ void MainWindow::exportImages()
QMessageBox::warning(this, tr("Export images..."), tr("Cannot export images, the cache is empty!"));
return;
}
std::map<int, Transform> poses = _ui->widget_mapVisibility->getVisiblePoses();
std::map<int, Transform> poses = !_ui->widget_mapVisibility->isEmpty()?_ui->widget_mapVisibility->getVisiblePoses():_currentPosesMap;
if(poses.empty())
{
@@ -8373,7 +8376,7 @@ void MainWindow::exportBundlerFormat()
return;
}
std::map<int, Transform> posesIn = _ui->widget_mapVisibility->getVisiblePoses();
std::map<int, Transform> posesIn = !_ui->widget_mapVisibility->isEmpty()?_ui->widget_mapVisibility->getVisiblePoses():_currentPosesMap;
// Use ground truth poses if current clouds are using them
if(_currentGTPosesMap.size() && _ui->actionAnchor_clouds_to_ground_truth->isChecked())