Bugfix - lidarview pose3d #984
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m3d
reviewed
Mar 18, 2024
osgar/tools/lidarview.py
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| @@ -416,14 +416,15 @@ def _step(self, direction): | |||
| arr = deserialize(data) | |||
| assert len(arr) == 3 | |||
| self.pose = (arr[0]/1000.0, arr[1]/1000.0, math.radians(arr[2]/100.0)) | |||
| if stream_id in [self.pose2d_id, self.pose3d_id]: | |||
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well, it is probably not correct - I would add there elif stream_id in [self.pose2d_id, self.pose3d_id]: and inside handle if pose2d else pose3d and them common crazy correction for g_rotation_offset_rad :(
m3d
reviewed
Mar 18, 2024
osgar/tools/lidarview.py
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| keyframe = self.keyframe | ||
| self.keyframe = False | ||
| return timestamp, self.frame, self.pose, self.pose3d, self.scan, self.scan2, self.image, self.image2, self.bbox, self.joint, keyframe, self.title, False | ||
| if self.lidar_id is None and self.camera_id is None: |
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this if section not lidar and not camera is really INSIDE the processing of pose (future pose3d) and it is ment to define keyframe (lidar is primary, camera secondary and pose is tertiary)
|
Thanks for comments, please check my fix. |
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The lidarview does not work if only pose3d is available. It looks there is just wrong indentation. However, i am not sure so please for careful review.