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DbViewer: added ground truth coordinate (when available) in constraints view

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matlabbe
2016-01-10 13:07:42 -05:00
parent 182fe5f1d2
commit 94adc6fa1b
1 changed files with 5 additions and 1 deletions
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guilib/src/DatabaseViewer.cpp
+5 -1
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@@ -3059,7 +3059,11 @@ void DatabaseViewer::updateConstraintView(
ui_->constraintsViewer->addOrUpdateCoordinate("from_coordinate", Transform::getIdentity(), 0.2); ui_->constraintsViewer->addOrUpdateCoordinate("from_coordinate", Transform::getIdentity(), 0.2);
ui_->constraintsViewer->addOrUpdateCoordinate("to_coordinate", t, 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(); ui_->constraintsViewer->clearTrajectory();