Paint map in global view

PRBonn · Jan 24, 2024 · d51426a · d51426a
1 parent 3848ee9
commit d51426a
Showing 1 changed file with 4 additions and 1 deletion.
diff --git 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()