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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; LaserScan scan;
rtabmap::OdometryInfo info; rtabmap::OdometryInfo info;
bool ignoreData = false; bool ignoreData = false;
Transform fakeCameraLocalTransform = Transform::getIdentity(); Transform fakeCameraLocalTransform;
// limit update rate // limit update rate
if(maxOdomUpdateRate_<=0.0 || if(maxOdomUpdateRate_<=0.0 ||
@@ -853,14 +853,14 @@ void GuiWrapper::commonLaserScanCallback(
return; return;
} }
cv::Mat rgb = cv::Mat::zeros(2,1,CV_8UC1); cv::Mat rgb;
cv::Mat depth = cv::Mat::zeros(2,1,CV_16UC1); cv::Mat depth;
CameraModel model( CameraModel model(
1, 1,
1, 1,
0.5, 0.5,
1, 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, 0,
cv::Size(1,2)); cv::Size(1,2));