From 94adc6fa1ba930630b7aa047ad97516fd6b21f23 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Sun, 10 Jan 2016 13:07:42 -0500 Subject: [PATCH] DbViewer: added ground truth coordinate (when available) in constraints view --- guilib/src/DatabaseViewer.cpp | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/guilib/src/DatabaseViewer.cpp b/guilib/src/DatabaseViewer.cpp index 688bd950..bc3a8a96 100644 --- a/guilib/src/DatabaseViewer.cpp +++ b/guilib/src/DatabaseViewer.cpp @@ -3059,7 +3059,11 @@ void DatabaseViewer::updateConstraintView( ui_->constraintsViewer->addOrUpdateCoordinate("from_coordinate", Transform::getIdentity(), 0.2); ui_->constraintsViewer->addOrUpdateCoordinate("to_coordinate", t, 0.2); - + if(uContains(groundTruthPoses_, link.from()) && uContains(groundTruthPoses_, link.to())) + { + ui_->constraintsViewer->addOrUpdateCoordinate("to_coordinate_gt", + groundTruthPoses_.at(link.from()).inverse()*groundTruthPoses_.at(link.to()), 0.1); + } ui_->constraintsViewer->clearTrajectory();