Data samples keep moving with coordinate frame in 3D-Visualization

[skasperski]

Data samples that are defined in some coordinate frame keep moving in the visualization when the frame changes over time. But data should stay at the position where it was recorded instead of moving with the frame after it has been recorded.

[jmachowinski]

Depends on the usecase, If you display a robot arm , you want that the 'subelements' move if you change the frame over time.

[skasperski]

Yes, that's true. But every reading of the outside world (e.g. pointclouds) you would expect to stay in place when the robot moves.

[skasperski]

I tried to attach the vis-plugin to a fixed frame node instead of the moving transformer tree node, but this doesn't seem to work. (Produces an indeed fixed, but strangely doubled and rotated visualization).

void Vizkit3DWidget::enableDataHandler(VizPluginBase *viz)
{
    if (viz == env_plugin)
        throw std::invalid_argument("attempted to enable the environment plugin");

    PluginMap::iterator it = plugins.find(viz);
    if (it != plugins.end())
    {            
        //get global position of framegroup
        osg::Group* framegroup = it->second.get();
        fixed_node = GlobalPos::getGlobalPATransform(framegroup, getRootNode());

        //need to save trans for disableDataHandler
        fixed_node->addChild(viz->getRootNode());
        getRootNode()->addChild(fixed_node);
    }
}

[jmachowinski]

Did you try the keep_old_data option ?

[doudou]

@skasperski: I agree with you that it's a bug, but I don't think that anyone would have the time/energy to fix this particular issue unfortunately.