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Merge branch 'master' of github.com:introlab/rtabmap into gtest

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matlabbe
2025-07-05 09:37:08 -07:00
parent 442a868929 0579d4f39c
commit 45f342cb41
10 changed files with 103 additions and 53 deletions
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guilib/src/GraphViewer.cpp
+16 -9
View File
@@ -577,33 +577,40 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
for(std::multimap<int, Link>::const_iterator iter=constraints.begin(); iter!=constraints.end(); ++iter)
{
// make the first id the smallest one
int idFrom = iter->first<iter->second.to()?iter->first:iter->second.to();
int idTo = iter->first<iter->second.to()?iter->second.to():iter->first;
int idFrom = iter->second.from() < iter->second.to() ? iter->second.from() : iter->second.to();
int idTo = iter->second.from() < iter->second.to() ? iter->second.to() : iter->second.from();
if(idFrom == idTo) {
continue;
}
std::map<int, Transform>::const_iterator jterA = poses.find(idFrom);
std::map<int, Transform>::const_iterator jterB = poses.find(idTo);
LinkItem * linkItem = 0;
if(jterA != poses.end() && jterB != poses.end() &&
_nodeItems.contains(iter->first) && _nodeItems.contains(idTo))
_nodeItems.contains(idFrom) && _nodeItems.contains(idTo))
{
const Transform & poseA = jterA->second;
const Transform & poseB = jterB->second;
QMultiMap<int, LinkItem*>::iterator itemIter = _linkItems.end();
if(_linkItems.contains(idFrom))
{
itemIter = _linkItems.find(iter->first);
while(itemIter.key() == idFrom && itemIter != _linkItems.end())
itemIter = _linkItems.find(idFrom);
bool alreadyAdded = false;
while(itemIter != _linkItems.end() && itemIter.key() == idFrom)
{
if(itemIter.value()->to() == idTo && itemIter.value()->type() == iter->second.type())
if(itemIter.value()->to() == idTo && itemIter.value()->isVisible())
{
itemIter.value()->setPoses(poseA, poseB, _viewPlane);
itemIter.value()->show();
linkItem = itemIter.value();
alreadyAdded = true;
break;
}
++itemIter;
}
if(alreadyAdded){
continue;
}
}
bool interSessionClosure = false;
guilib/src/ImageView.cpp
+1 -1
View File
@@ -1351,7 +1351,7 @@ void ImageView::setImageDepth(const cv::Mat & imageDepth, const cv::Mat & imageD
_imageDepthCv = imageDepth;
_imageDepthConfidenceCv = imageDepthConfidence;
setImageDepth(
uCvMat2QImage(_imageDepthCv, true, getDepthColorMap(), _depthColorMapMinRange, _depthColorMapMaxRange),
uCvMat2QImage(_imageDepthCv, true, _imageDepthCv.type()==CV_8UC1?uCvQtDepthBlackToWhite:getDepthColorMap(), _depthColorMapMinRange, _depthColorMapMaxRange),
uCvMat2QImage(_imageDepthConfidenceCv, true, getDepthColorMap()));
}
guilib/src/MainWindow.cpp
+11 -4
View File
@@ -5878,8 +5878,11 @@ void MainWindow::startDetection()
}
}
if(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcDatabase &&
camera && camera->odomProvided())
if((_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcDatabase ||
_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcImages ||
_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoImages ||
_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRGBDImages) &&
camera && camera->odomProvided())
{
odomSensor = camera;
}
@@ -8690,11 +8693,13 @@ void MainWindow::changeState(MainWindow::State newState)
if(_sensorCapture)
{
_sensorCapture->start();
if(_imuThread)
{
_imuThread->start();
// give imu thread a head start
uSleep(10);
}
_sensorCapture->start();
ULogger::setTreadIdFilter(_preferencesDialog->getGeneralLoggerThreads());
}
break;
@@ -8726,11 +8731,13 @@ void MainWindow::changeState(MainWindow::State newState)
if(_sensorCapture)
{
_sensorCapture->start();
if(_imuThread)
{
_imuThread->start();
// give imu thread a head start
uSleep(10);
}
_sensorCapture->start();
ULogger::setTreadIdFilter(_preferencesDialog->getGeneralLoggerThreads());
}
}