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CoreWrapper/GuiWrapper: removed fake camera model when only lidar is used

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This commit is contained in:
matlabbe
2021-01-22 12:53:49 -05:00
parent d21b03ae7a
commit 21090899d4
2 changed files with 23 additions and 81 deletions
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src/GuiWrapper.cpp
+6 -39
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@@ -835,7 +835,6 @@ void GuiWrapper::commonLaserScanCallback(
LaserScan scan;
rtabmap::OdometryInfo info;
bool ignoreData = false;
Transform fakeCameraLocalTransform;
// limit update rate
if(maxOdomUpdateRate_<=0.0 ||
@@ -884,16 +883,6 @@ void GuiWrapper::commonLaserScanCallback(
}
else if(odomInfoMsg.get())
{
//just get scan local transform to adjust camera frame
if(!scan2dMsg.ranges.empty())
{
fakeCameraLocalTransform = getTransform(frameId, scan2dMsg.header.frame_id, scan2dMsg.header.stamp, tfListener_, waitForTransform_?waitForTransformDuration_:0);
}
else if(!scan3dMsg.data.empty())
{
fakeCameraLocalTransform = getTransform(frameId, scan3dMsg.header.frame_id, scan3dMsg.header.stamp, tfListener_, waitForTransform_?waitForTransformDuration_:0);
}
info = rtabmap_ros::odomInfoFromROS(*odomInfoMsg).copyWithoutData();
ignoreData = true;
}
@@ -903,24 +892,13 @@ void GuiWrapper::commonLaserScanCallback(
return;
}
cv::Mat rgb;
cv::Mat depth;
CameraModel model(
2,
2,
2,
1.5,
(fakeCameraLocalTransform.isNull()?scan.localTransform():fakeCameraLocalTransform)*Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0),
0,
cv::Size(4,3));
info.reg.covariance = covariance;
rtabmap::OdometryEvent odomEvent(
rtabmap::SensorData(
scan,
rgb,
depth,
model,
cv::Mat(),
cv::Mat(),
CameraModel(),
odomHeader.seq,
rtabmap_ros::timestampFromROS(odomHeader.stamp)),
odomMsg.get()?rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose):odomT,
@@ -987,23 +965,12 @@ void GuiWrapper::commonOdomCallback(
return;
}
cv::Mat rgb;
cv::Mat depth;
CameraModel model(
2,
2,
2,
1.5,
Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0),
0,
cv::Size(4,3));
info.reg.covariance = covariance;
rtabmap::OdometryEvent odomEvent(
rtabmap::SensorData(
rgb,
depth,
model,
cv::Mat(),
cv::Mat(),
CameraModel(),
odomHeader.seq,
rtabmap_ros::timestampFromROS(odomHeader.stamp)),
odomMsg.get()?rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose):odomT,