Fix GPS

MOLAorg · Feb 9, 2024 · ad1b5c1 · ad1b5c1
1 parent f136aad
commit ad1b5c1
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Showing 2 changed files with 8 additions and 6 deletions.
diff --git a/mola_input_mulran_dataset/src/MulranDataset.cpp b/mola_input_mulran_dataset/src/MulranDataset.cpp
@@ -161,8 +161,9 @@ void MulranDataset::initialize(const Yaml& c)
         // Parse into the unified container:
         for (int row = 0; row < gpsCsvData_.rows(); row++)
         {
-            const double t    = 1e-9 * gpsCsvData_(row, 0);
-            const Entry entry = {EntryType::GNNS, static_cast<timestep_t>(row)};
+            const double t     = 1e-9 * gpsCsvData_(row, 0);
+            Entry        entry = {EntryType::GNNS};
+            entry.gpsIdx       = row;
             datasetEntries_.emplace(t, entry);
         }
     }
@@ -337,7 +338,7 @@ void MulranDataset::spinOnce()
             {
                 if (!publish_gps_) break;
 
-                auto o = getGPS(de.gpsIdx);
+                auto o = get_gps_by_row_index(de.gpsIdx);
                 this->sendObservationsToFrontEnds(o);
             }
             break;

diff --git a/mola_viz/src/MolaViz.cpp b/mola_viz/src/MolaViz.cpp
@@ -386,6 +386,7 @@ void gui_handler_gps(
     if (!obj) return;
 
     std::array<nanogui::Label*, 5> labels;
+    labels.fill(nullptr);
     if (w->children().size() == 1)
     {
         w->setLayout(new nanogui::GridLayout(
@@ -395,7 +396,7 @@ void gui_handler_gps(
         for (size_t i = 0; i < labels.size(); i++)
             labels[i] = w->add<nanogui::Label>(" ");
 
-        const int winW = 200;
+        const int winW = 250;
         w->setSize({winW, 0});
         w->setFixedSize({winW, 0});
 
@@ -412,9 +413,9 @@ void gui_handler_gps(
         gga)
     {
         labels[0]->setCaption(
-            mrpt::format("Latitude: %.02f deg", gga->fields.latitude_degrees));
+            mrpt::format("Latitude: %.06f deg", gga->fields.latitude_degrees));
         labels[1]->setCaption(mrpt::format(
-            "Longitude: %.02f deg", gga->fields.longitude_degrees));
+            "Longitude: %.06f deg", gga->fields.longitude_degrees));
         labels[2]->setCaption(
             mrpt::format("Altitude: %.02f m", gga->fields.altitude_meters));
         labels[3]->setCaption(mrpt::format("HDOP: %.02f", gga->fields.HDOP));