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rtabmapviz: fixed frustum when using only lidar input

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matlabbe
2019-02-25 18:44:30 -05:00
parent 85210e8425
commit 579a2bbc50
1 changed files with 4 additions and 4 deletions
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src/GuiWrapper.cpp
+4 -4
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@@ -785,7 +785,7 @@ void GuiWrapper::commonLaserScanCallback(
LaserScan scan;
rtabmap::OdometryInfo info;
bool ignoreData = false;
Transform fakeCameraLocalTransform = Transform::getIdentity();
Transform fakeCameraLocalTransform;
// limit update rate
if(maxOdomUpdateRate_<=0.0 ||
@@ -853,14 +853,14 @@ void GuiWrapper::commonLaserScanCallback(
return;
}
cv::Mat rgb = cv::Mat::zeros(2,1,CV_8UC1);
cv::Mat depth = cv::Mat::zeros(2,1,CV_16UC1);
cv::Mat rgb;
cv::Mat depth;
CameraModel model(
1,
1,
0.5,
1,
fakeCameraLocalTransform*Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0),
(fakeCameraLocalTransform.isNull()?scan.localTransform():fakeCameraLocalTransform)*Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0),
0,
cv::Size(1,2));