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DbViewer: fixed error log when showing landmarks in Constraints view.

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This commit is contained in:
matlabbe
2020-09-15 17:12:00 -04:00
parent 4e6e404951
commit 3d33370e4c
1 changed files with 28 additions and 11 deletions
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39
guilib/src/DatabaseViewer.cpp
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@@ -5481,7 +5481,7 @@ void DatabaseViewer::updateConstraintView(
if(signatureTo.id()>0) if(signatureTo.id()>0)
{ {
dataTo = signatureTo.sensorData(); dataTo = signatureTo.sensorData();
} }
else if(link.to()>0) else if(link.to()>0)
{ {
@@ -5569,18 +5569,29 @@ void DatabaseViewer::updateConstraintView(
constraintsViewer_->removeCloud("words1"); constraintsViewer_->removeCloud("words1");
if(ui_->checkBox_show3DWords->isChecked()) if(ui_->checkBox_show3DWords->isChecked())
{ {
std::list<int> ids; std::list<int> ids;
ids.push_back(link.from());
if(link.to()>0)
{
ids.push_back(link.to()); ids.push_back(link.to());
} }
std::list<Signature*> signatures; std::list<Signature*> signatures;
dbDriver_->loadSignatures(ids, signatures); dbDriver_->loadSignatures(ids, signatures);
if(signatures.size() == 2 || (link.to()<0 && signatures.size()==1)) if(signatures.size() == 2 || (link.to()<0 && signatures.size()==1))
{ {
const Signature * sFrom = signatureFrom.id()>0?&signatureFrom:signatures.front(); const Signature * sFrom = signatureFrom.id()>0?&signatureFrom:signatures.front();
const Signature * sTo = 0;
if(signatures.size()==2)
{
sTo = signatureTo.id()>0?&signatureTo:signatures.back();
UASSERT(sTo);
} }
UASSERT(sFrom); UASSERT(sFrom);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFrom(new pcl::PointCloud<pcl::PointXYZ>); pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFrom(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudTo(new pcl::PointCloud<pcl::PointXYZ>); pcl::PointCloud<pcl::PointXYZ>::Ptr cloudTo(new pcl::PointCloud<pcl::PointXYZ>);
cloudFrom->resize(sFrom->getWords3().size());
if(sTo)
{
cloudTo->resize(sTo->getWords3().size()); cloudTo->resize(sTo->getWords3().size());
} }
int i=0; int i=0;
@@ -5589,11 +5600,14 @@ void DatabaseViewer::updateConstraintView(
++iter) ++iter)
{ {
cloudFrom->at(i++) = pcl::PointXYZ(iter->second.x, iter->second.y, iter->second.z); cloudFrom->at(i++) = pcl::PointXYZ(iter->second.x, iter->second.y, iter->second.z);
} }
i=0;
for(std::multimap<int, cv::Point3f>::const_iterator iter=sTo->getWords3().begin();
i=0; i=0;
++iter) if(sTo)
{
for(std::multimap<int, cv::Point3f>::const_iterator iter=sTo->getWords3().begin();
iter!=sTo->getWords3().end();
++iter)
{
cloudTo->at(i++) = pcl::PointXYZ(iter->second.x, iter->second.y, iter->second.z); cloudTo->at(i++) = pcl::PointXYZ(iter->second.x, iter->second.y, iter->second.z);
} }
} }
@@ -5624,7 +5638,10 @@ void DatabaseViewer::updateConstraintView(
{ {
constraintsViewer_->addCloud("words1", cloudTo, pose, Qt::cyan); constraintsViewer_->addCloud("words1", cloudTo, pose, Qt::cyan);
} }
else else
{
if(sTo)
{
UWARN("Empty 3D words for node %d", link.to()); UWARN("Empty 3D words for node %d", link.to());
} }
constraintsViewer_->removeCloud("words1"); constraintsViewer_->removeCloud("words1");