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GUI: GraphView's referential updated with odometry events

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Mathieu Labbe
2015-02-17 17:53:44 -05:00
parent 2f6426f029
commit f708e7c040
3 changed files with 36 additions and 21 deletions
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guilib/src/MainWindow.cpp
+19 -3
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@@ -710,13 +710,16 @@ void MainWindow::processOdometry(const rtabmap::SensorData & data, const rtabmap
_ui->statsToolBox->updateStat("Odometry/T_pitch/deg", (float)data.id(), pitch*180.0/CV_PI);
_ui->statsToolBox->updateStat("Odometry/T_yaw/deg", (float)data.id(), yaw*180.0/CV_PI);
if(!pose.isNull() && (_ui->dockWidget_cloudViewer->isVisible() || _ui->graphicsView_graphView->isVisible()))
{
_lastOdomPose = pose;
_odometryReceived = true;
}
if(_ui->dockWidget_cloudViewer->isVisible())
{
if(!pose.isNull())
{
_lastOdomPose = pose;
_odometryReceived = true;
// 3d cloud
if(data.depthOrRightImage().cols == data.image().cols &&
data.depthOrRightImage().rows == data.image().rows &&
@@ -773,6 +776,15 @@ void MainWindow::processOdometry(const rtabmap::SensorData & data, const rtabmap
_ui->widget_cloudViewer->update();
}
if(_ui->graphicsView_graphView->isVisible())
{
if(!pose.isNull() && !data.pose().isNull())
{
_ui->graphicsView_graphView->updateReferentialPosition(_odometryCorrection*data.pose());
_ui->graphicsView_graphView->update();
}
}
if(_ui->dockWidget_odometry->isVisible() &&
!data.image().empty())
{
@@ -1390,6 +1402,10 @@ void MainWindow::updateMapCloud(
if(_ui->graphicsView_graphView->isVisible())
{
_ui->graphicsView_graphView->updateGraph(posesIn, constraints);
if(!currentPose.isNull())
{
_ui->graphicsView_graphView->updateReferentialPosition(currentPose);
}
}
cv::Mat map8U;
if((_ui->graphicsView_graphView->isVisible() || _preferencesDialog->getGridMapShown()) && (_createdScans.size() || _preferencesDialog->isGridMapFrom3DCloud()))