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DatabaseViewer: just show single axis on constraint viewer if built with PCL < 1.7.2

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matlabbe
2017-09-11 20:59:36 -04:00
parent 16c428e360
commit 16ffcc7684
1 changed files with 2 additions and 1 deletions
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guilib/src/DatabaseViewer.cpp
+2 -1
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@@ -3805,8 +3805,8 @@ void DatabaseViewer::updateConstraintView(
} }
//update coordinate //update coordinate
constraintsViewer_->addOrUpdateCoordinate("from_coordinate", pose, 0.2); constraintsViewer_->addOrUpdateCoordinate("from_coordinate", pose, 0.2);
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
constraintsViewer_->addOrUpdateCoordinate("to_coordinate", pose*t, 0.2); constraintsViewer_->addOrUpdateCoordinate("to_coordinate", pose*t, 0.2);
constraintsViewer_->removeCoordinate("to_coordinate_gt"); constraintsViewer_->removeCoordinate("to_coordinate_gt");
if(uContains(groundTruthPoses_, link.from()) && uContains(groundTruthPoses_, link.to())) if(uContains(groundTruthPoses_, link.from()) && uContains(groundTruthPoses_, link.to()))
@@ -3814,6 +3814,7 @@ void DatabaseViewer::updateConstraintView(
constraintsViewer_->addOrUpdateCoordinate("to_coordinate_gt", constraintsViewer_->addOrUpdateCoordinate("to_coordinate_gt",
pose*(groundTruthPoses_.at(link.from()).inverse()*groundTruthPoses_.at(link.to())), 0.1); pose*(groundTruthPoses_.at(link.from()).inverse()*groundTruthPoses_.at(link.to())), 0.1);
} }
#endif
constraintsViewer_->clearTrajectory(); constraintsViewer_->clearTrajectory();