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DbViewer: fixed icp from depth option not used when refining or adding loop closures automaticaly

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matlabbe
2021-09-13 15:59:19 -04:00
parent a901f20d06
commit 44b057b0d7
1 changed files with 31 additions and 4 deletions
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35
guilib/src/DatabaseViewer.cpp
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@@ -7555,8 +7555,8 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent)
if( reg->isScanRequired() || if( reg->isScanRequired() ||
reg->isUserDataRequired() || reg->isUserDataRequired() ||
reextractVisualFeatures || reextractVisualFeatures ||
!silent) !silent)
{ {
dbDriver_->loadNodeData(fromS, reextractVisualFeatures || !silent || (reg->isScanRequired() && ui_->checkBox_icp_from_depth->isChecked()), reg->isScanRequired() || !silent, reg->isUserDataRequired() || !silent, !silent); dbDriver_->loadNodeData(fromS, reextractVisualFeatures || !silent || (reg->isScanRequired() && ui_->checkBox_icp_from_depth->isChecked()), reg->isScanRequired() || !silent, reg->isUserDataRequired() || !silent, !silent);
dbDriver_->loadNodeData(toS, reextractVisualFeatures || !silent || (reg->isScanRequired() && ui_->checkBox_icp_from_depth->isChecked()), reg->isScanRequired() || !silent, reg->isUserDataRequired() || !silent, !silent); dbDriver_->loadNodeData(toS, reextractVisualFeatures || !silent || (reg->isScanRequired() && ui_->checkBox_icp_from_depth->isChecked()), reg->isScanRequired() || !silent, reg->isUserDataRequired() || !silent, !silent);
@@ -7829,9 +7829,9 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
reg->isUserDataRequired() || reg->isUserDataRequired() ||
reextractVisualFeatures || reextractVisualFeatures ||
!silent) !silent)
{ {
// Add sensor data to generate features // Add sensor data to generate features
dbDriver_->loadNodeData(fromS, reextractVisualFeatures || !silent, reg->isScanRequired() || !silent, reg->isUserDataRequired() || !silent, !silent); dbDriver_->loadNodeData(fromS, reextractVisualFeatures || !silent || (reg->isScanRequired() && ui_->checkBox_icp_from_depth->isChecked()), reg->isScanRequired() || !silent, reg->isUserDataRequired() || !silent, !silent);
fromS->sensorData().uncompressData(); fromS->sensorData().uncompressData();
dbDriver_->loadNodeData(toS, reextractVisualFeatures || !silent || (reg->isScanRequired() && ui_->checkBox_icp_from_depth->isChecked()), reg->isScanRequired() || !silent, reg->isUserDataRequired() || !silent, !silent); dbDriver_->loadNodeData(toS, reextractVisualFeatures || !silent || (reg->isScanRequired() && ui_->checkBox_icp_from_depth->isChecked()), reg->isScanRequired() || !silent, reg->isUserDataRequired() || !silent, !silent);
toS->sensorData().uncompressData(); toS->sensorData().uncompressData();
@@ -7840,6 +7840,33 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
fromS->removeAllWords(); fromS->removeAllWords();
fromS->sensorData().setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat()); fromS->sensorData().setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());
toS->removeAllWords(); toS->removeAllWords();
toS->sensorData().setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());
}
if(reg->isScanRequired() && ui_->checkBox_icp_from_depth->isChecked())
{
// generate laser scans from depth image
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFrom = util3d::cloudFromSensorData(
fromS->sensorData(),
ui_->spinBox_icp_decimation->value()==0?1:ui_->spinBox_icp_decimation->value(),
ui_->doubleSpinBox_icp_maxDepth->value(),
ui_->doubleSpinBox_icp_minDepth->value(),
0,
ui_->parameters_toolbox->getParameters());
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudTo = util3d::cloudFromSensorData(
toS->sensorData(),
ui_->spinBox_icp_decimation->value()==0?1:ui_->spinBox_icp_decimation->value(),
ui_->doubleSpinBox_icp_maxDepth->value(),
ui_->doubleSpinBox_icp_minDepth->value(),
0,
ui_->parameters_toolbox->getParameters());
int maxLaserScans = cloudFrom->size();
fromS->sensorData().setLaserScan(LaserScan(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudFrom), Transform()), maxLaserScans, 0));
toS->sensorData().setLaserScan(LaserScan(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudTo), Transform()), maxLaserScans, 0));
if(!fromS->sensorData().laserScanCompressed().isEmpty() || !toS->sensorData().laserScanCompressed().isEmpty())
{
UWARN("There are laser scans in data, but generate laser scan from "
"depth image option is activated. Ignoring saved laser scans...");
} }
} }
} }