void Visualizer::visualizeMarkers(
const FramePtr& frame,
const set<FramePtr>& core_kfs,
const Map& map)
{
if(frame == NULL)
return;
vk::output_helper::publishTfTransform(
frame->T_f_w_*T_world_from_vision_.inverse(),
ros::Time(frame->timestamp_), "cam_pos", "worldNED", br_);
if(pub_frames_.getNumSubscribers() > 0 || pub_points_.getNumSubscribers() > 0)
{
vk::output_helper::publishHexacopterMarker(
pub_frames_, "cam_pos", "cams", ros::Time(frame->timestamp_),
1, 0, 0.3*VIS_SCALE, Vector3d(0.,0.,1.));
vk::output_helper::publishPointMarker(
pub_points_, T_world_from_vision_*frame->pos(), "trajectory",
ros::Time::now(), trace_id_, 0, 0.006*VIS_SCALE, Vector3d(0.,0.,0.5));
if(frame->isKeyframe() || publish_map_every_frame_)
publishMapRegion(core_kfs);
removeDeletedPts(map);
}
}
void Visualizer::visualizeMarkers(
const FramePtr& frame,
const set<FramePtr>& core_kfs,
const Map& map,
bool inited,
double svo_scale,
double our_scale)
{
if((frame == NULL) || !inited)
{
vk::output_helper::publishTfTransform(
// SE3(Matrix3d::Identity(), Vector3d::Zero()),
T_world_from_vision_,
ros::Time(frame->timestamp_), "odom", "cam_pos", br_);
return;
}
SE3 temp = (frame->T_f_w_*T_world_from_vision_.inverse()).inverse();
double scale = our_scale / svo_scale;
temp.translation() = temp.translation()* scale;
vk::output_helper::publishTfTransform(
temp,
ros::Time(frame->timestamp_), "odom", "cam_pos", br_);
if(pub_frames_.getNumSubscribers() > 0 || pub_points_.getNumSubscribers() > 0)
{
vk::output_helper::publishHexacopterMarker(
pub_frames_, "cam_pos", "cams", ros::Time(frame->timestamp_),
1, 0, 0.3, Vector3d(0.,0.,1.));
vk::output_helper::publishPointMarker(
pub_points_, T_world_from_vision_*frame->pos(), "trajectory",
ros::Time::now(), trace_id_, 0, 0.006, Vector3d(0.,0.,0.5));
if(frame->isKeyframe() || publish_map_every_frame_)
publishMapRegion(core_kfs);
removeDeletedPts(map);
}
}