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CameraRealSense2: Odom extrinsics against another sensor can be calibrated with having to calibrate stereo first. DBViewer: fixed local grid wrongly using global grid parameters.

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matlabbe
2021-11-05 18:05:50 -04:00
parent 20bc281db7
commit ddd5eb5a41
8 changed files with 112 additions and 48 deletions
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guilib/src/DatabaseViewer.cpp
+2 -1
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@@ -5025,6 +5025,7 @@ void DatabaseViewer::update(int value,
float xMin=0.0f, yMin=0.0f;
cv::Mat map8S;
ParametersMap parameters = ui_->parameters_toolbox->getParameters();
parameters = Parameters::filterParameters(parameters, "GridGlobal", true);
float gridCellSize = Parameters::defaultGridCellSize();
Parameters::parse(parameters, Parameters::kGridCellSize(), gridCellSize);
#ifdef RTABMAP_OCTOMAP
@@ -5035,7 +5036,7 @@ void DatabaseViewer::update(int value,
else
#endif
{
OccupancyGrid grid(ui_->parameters_toolbox->getParameters());
OccupancyGrid grid(parameters);
grid.setCellSize(gridCellSize);
grid.addToCache(data.id(), localMaps.begin()->second.first.first, localMaps.begin()->second.first.second, localMaps.begin()->second.second);
grid.update(poses);