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DatabaseViewer: fixed switched words after adding new loop closures

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This commit is contained in:
matlabbe
2015-04-25 18:13:31 -04:00
parent 68187f172e
commit 3e20d1ca7c
2 changed files with 44 additions and 60 deletions
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guilib/src/DatabaseViewer.cpp
+35 -51
View File
@@ -1899,51 +1899,35 @@ void DatabaseViewer::updateConstraintView(
if(updateImageSliders)
{
bool updateA = false;
bool updateB = false;
ui_->horizontalSlider_A->blockSignals(true);
ui_->horizontalSlider_B->blockSignals(true);
// set from on left and to on right
if(ui_->horizontalSlider_A->value() != idToIndex_.value(link.from()))
{
ui_->horizontalSlider_A->setValue(idToIndex_.value(link.from()));
updateA=true;
}
if(ui_->horizontalSlider_B->value() != idToIndex_.value(link.to()))
{
ui_->horizontalSlider_B->setValue(idToIndex_.value(link.to()));
updateB=true;
}
// set from on left and to on right {
ui_->horizontalSlider_A->setValue(idToIndex_.value(link.from()));
ui_->horizontalSlider_B->setValue(idToIndex_.value(link.to()));
ui_->horizontalSlider_A->blockSignals(false);
ui_->horizontalSlider_B->blockSignals(false);
if(updateA)
{
this->update(idToIndex_.value(link.from()),
ui_->label_indexA,
ui_->label_parentsA,
ui_->label_childrenA,
ui_->label_weightA,
ui_->label_labelA,
ui_->label_stampA,
ui_->graphicsView_A,
ui_->widget_cloudA,
ui_->label_idA,
false); // don't update constraints view!
}
if(updateB)
{
this->update(idToIndex_.value(link.to()),
ui_->label_indexB,
ui_->label_parentsB,
ui_->label_childrenB,
ui_->label_weightB,
ui_->label_labelB,
ui_->label_stampB,
ui_->graphicsView_B,
ui_->widget_cloudB,
ui_->label_idB,
false); // don't update constraints view!
}
this->update(idToIndex_.value(link.from()),
ui_->label_indexA,
ui_->label_parentsA,
ui_->label_childrenA,
ui_->label_weightA,
ui_->label_labelA,
ui_->label_stampA,
ui_->graphicsView_A,
ui_->widget_cloudA,
ui_->label_idA,
false); // don't update constraints view!
this->update(idToIndex_.value(link.to()),
ui_->label_indexB,
ui_->label_parentsB,
ui_->label_childrenB,
ui_->label_weightB,
ui_->label_labelB,
ui_->label_stampB,
ui_->graphicsView_B,
ui_->widget_cloudB,
ui_->label_idB,
false); // don't update constraints view!
}
if(ui_->constraintsViewer->isVisible())
@@ -2786,13 +2770,6 @@ void DatabaseViewer::addConstraint()
bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool updateGraph)
{
if(from < to)
{
int tmp = to;
to = from;
from = tmp;
}
if(from == to)
{
UWARN("Cannot add link to same node");
@@ -2846,8 +2823,8 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool updateGra
if(!silent)
{
ui_->graphicsView_A->setFeatures(tmpMemory.getSignature(to)->getWords());
ui_->graphicsView_B->setFeatures(tmpMemory.getSignature(from)->getWords());
ui_->graphicsView_A->setFeatures(tmpMemory.getSignature(from)->getWords());
ui_->graphicsView_B->setFeatures(tmpMemory.getSignature(to)->getWords());
updateWordsMatching();
}
}
@@ -2882,7 +2859,14 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool updateGra
}
// transform is valid, make a link
linksAdded_.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, t, variance, variance)));
if(from>to)
{
linksAdded_.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, t, variance, variance)));
}
else
{
linksAdded_.insert(std::make_pair(to, Link(to, from, Link::kUserClosure, t.inverse(), variance, variance)));
}
updateSlider = true;
}
}