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DbViewer: added option to ignore landmarks. Show landmark id in Constraints View.

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This commit is contained in:
matlabbe
2020-10-12 15:29:20 -04:00
parent 3aae79270f
commit 0e5ec91280
2 changed files with 34 additions and 10 deletions
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guilib/src/DatabaseViewer.cpp
+8 -1
View File
@@ -378,6 +378,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->checkBox_ignoreLocalLoopSpace, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_ignoreLocalLoopTime, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_ignoreUserLoop, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_ignoreLandmarks, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->doubleSpinBox_optimizationScale, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
connect(ui_->checkBox_octomap, SIGNAL(stateChanged(int)), this, SLOT(updateGrid()));
connect(ui_->checkBox_grid_2d, SIGNAL(stateChanged(int)), this, SLOT(updateGrid()));
@@ -708,6 +709,7 @@ void DatabaseViewer::restoreDefaultSettings()
ui_->checkBox_ignoreLocalLoopSpace->setChecked(false);
ui_->checkBox_ignoreLocalLoopTime->setChecked(false);
ui_->checkBox_ignoreUserLoop->setChecked(false);
ui_->checkBox_ignoreLandmarks->setChecked(false);
ui_->doubleSpinBox_optimizationScale->setValue(1.0);
ui_->doubleSpinBox_gainCompensationRadius->setValue(0.0);
ui_->doubleSpinBox_voxelSize->setValue(0.0);
@@ -5440,7 +5442,7 @@ void DatabaseViewer::updateConstraintView(
link.type()==Link::kLocalSpaceClosure?"Space proximity link":
link.type()==Link::kLocalTimeClosure?"Time proximity link":
link.type()==Link::kUserClosure?"User link":
link.type()==Link::kLandmark?"Landmark link":
link.type()==Link::kLandmark?"Landmark "+QString::number(-link.to()):
link.type()==Link::kVirtualClosure?"Virtual link":
link.type()==Link::kGravity?"Gravity link":"Undefined"));
ui_->label_variance->setText(QString("%1, %2")
@@ -6569,6 +6571,11 @@ void DatabaseViewer::updateGraphView()
}
else if(iter->second.type() == Link::kLandmark)
{
if(ui_->checkBox_ignoreLandmarks->isChecked())
{
links.erase(iter++);
continue;
}
UASSERT(iter->second.from() > 0 && iter->second.to() < 0);
if(poses.find(iter->second.from()) != poses.end() && poses.find(iter->second.to()) == poses.end())
{