From 656bcaeddfb819fa89c32e6c44666d58a3ad6972 Mon Sep 17 00:00:00 2001 From: Benedikt Mersch Date: Mon, 29 Jan 2024 09:57:19 +0100 Subject: [PATCH] Paint map in global view (#269) Co-authored-by: raw_t <37455909+tizianoGuadagnino@users.noreply.github.com> --- python/kiss_icp/tools/visualizer.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/python/kiss_icp/tools/visualizer.py b/python/kiss_icp/tools/visualizer.py index 7048ab9c..ad0900d0 100644 --- a/python/kiss_icp/tools/visualizer.py +++ b/python/kiss_icp/tools/visualizer.py @@ -33,6 +33,7 @@ RED = np.array([128, 0, 0]) / 255.0 BLACK = np.array([0, 0, 0]) / 255.0 BLUE = np.array([0.4, 0.5, 0.9]) +GRAY = np.array([0.4, 0.4, 0.4]) SPHERE_SIZE = 0.20 @@ -216,7 +217,9 @@ def _update_geometries(self, source, keypoints, target, pose): if self.render_map: target = copy.deepcopy(target) self.target.points = self.o3d.utility.Vector3dVector(target) - if not self.global_view: + if self.global_view: + self.target.paint_uniform_color(GRAY) + else: self.target.transform(np.linalg.inv(pose)) else: self.target.points = self.o3d.utility.Vector3dVector()