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Fix off-by-one bug and cleanup GL calls #113

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Fix off-by-one bug and cleanup GL calls #113

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10 changes: 4 additions & 6 deletions ch3/examples/plotTrajectory.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,8 +40,6 @@ void DrawTrajectory(vector<Isometry3d, Eigen::aligned_allocator<Isometry3d>> pos
// create pangolin window and plot the trajectory
pangolin::CreateWindowAndBind("Trajectory Viewer", 1024, 768);
glEnable(GL_DEPTH_TEST);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
Comment on lines -43 to -44
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We do not need alpha blending in this example


pangolin::OpenGlRenderState s_cam(
pangolin::ProjectionMatrix(1024, 768, 500, 500, 512, 389, 0.1, 1000),
Expand All @@ -52,12 +50,12 @@ void DrawTrajectory(vector<Isometry3d, Eigen::aligned_allocator<Isometry3d>> pos
.SetBounds(0.0, 1.0, 0.0, 1.0, -1024.0f / 768.0f)
.SetHandler(new pangolin::Handler3D(s_cam));

glClearColor(1.0f, 1.0f, 1.0f, 1.0f);
glLineWidth(2);
Comment on lines +53 to +54
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These do not change so we don't need to reset them every loop iteration

while (pangolin::ShouldQuit() == false) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
d_cam.Activate(s_cam);
glClearColor(1.0f, 1.0f, 1.0f, 1.0f);
glLineWidth(2);
for (size_t i = 0; i < poses.size(); i++) {
for (size_t i = 0; i < poses.size(); ++i) {
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nit: ++i is more efficient

// 画每个位姿的三个坐标轴
Vector3d Ow = poses[i].translation();
Vector3d Xw = poses[i] * (0.1 * Vector3d(1, 0, 0));
Expand All @@ -76,7 +74,7 @@ void DrawTrajectory(vector<Isometry3d, Eigen::aligned_allocator<Isometry3d>> pos
glEnd();
}
// 画出连线
for (size_t i = 0; i < poses.size(); i++) {
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Off by one error here since we're drawing a line from i -> i + 1

for (size_t i = 0; i < poses.size() - 1; ++i) {
glColor3f(0.0, 0.0, 0.0);
glBegin(GL_LINES);
auto p1 = poses[i], p2 = poses[i + 1];
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