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Rtabmap::addLink() supporting localization mode. MainWindow: fixed flickering camera frustum.

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This commit is contained in:
matlabbe
2020-05-21 21:26:29 -04:00
parent 69a2aacc8e
commit eb9999d7b1
4 changed files with 209 additions and 130 deletions
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8
guilib/src/MainWindow.cpp
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@@ -1340,11 +1340,11 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
{
_odometryReceived = true;
// update camera position
if(odom.data().cameraModels().size() && !odom.data().cameraModels()[0].localTransform().isNull())
if(odom.data().cameraModels().size() && odom.data().cameraModels()[0].isValidForProjection())
{
_cloudViewer->updateCameraFrustums(_odometryCorrection*odom.pose(), odom.data().cameraModels());
}
else if(!odom.data().stereoCameraModel().localTransform().isNull())
else if(odom.data().stereoCameraModel().isValidForProjection())
{
_cloudViewer->updateCameraFrustum(_odometryCorrection*odom.pose(), odom.data().stereoCameraModel());
}
@@ -2063,11 +2063,11 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
{
if(poses.rbegin()->first == stat.getLastSignatureData().id())
{
if(stat.getLastSignatureData().sensorData().cameraModels().size() && !stat.getLastSignatureData().sensorData().cameraModels()[0].localTransform().isNull())
if(stat.getLastSignatureData().sensorData().cameraModels().size() && stat.getLastSignatureData().sensorData().cameraModels()[0].isValidForProjection())
{
_cloudViewer->updateCameraFrustums(poses.rbegin()->second, stat.getLastSignatureData().sensorData().cameraModels());
}
else if(!stat.getLastSignatureData().sensorData().stereoCameraModel().localTransform().isNull())
else if(stat.getLastSignatureData().sensorData().stereoCameraModel().isValidForProjection())
{
_cloudViewer->updateCameraFrustum(poses.rbegin()->second, stat.getLastSignatureData().sensorData().stereoCameraModel());
}