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DbViewer: updated warning msg when graph optimization fails.

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matlabbe
2018-02-13 14:14:08 -05:00
parent c6e5f1c9f8
commit 3dfe1ccb1a
1 changed files with 10 additions and 2 deletions
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12
guilib/src/DatabaseViewer.cpp
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@@ -5022,11 +5022,19 @@ void DatabaseViewer::updateGraphView()
graphes_.push_back(finalPoses);
graphLinks_ = linksOut;
ui_->label_poses->setNum((int)finalPoses.size());
delete optimizer;
if(posesOut.size() && finalPoses.empty())
{
QMessageBox::warning(this, tr("Graph optimization error!"), tr("Graph optimization has failed. See the terminal for potential errors."));
if(!optimizer->isCovarianceIgnored() || optimizer->type() != Optimizer::kTypeTORO)
{
QMessageBox::warning(this, tr("Graph optimization error!"), tr("Graph optimization has failed. See the terminal for potential errors. "
"Give a try with %1=0 and %2=true.").arg(Parameters::kOptimizerStrategy().c_str()).arg(Parameters::kOptimizerVarianceIgnored().c_str()));
}
else
{
QMessageBox::warning(this, tr("Graph optimization error!"), tr("Graph optimization has failed. See the terminal for potential errors."));
}
}
delete optimizer;
if(uContains(groundTruthPoses_, fromId) && uContains(posesOut, fromId))
{