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DBViewer: fixed calibration not found on refining without re-extracting features, fixed visualized ids switched on refine in some cases, fixed clouds not shown in constraints view after refine without re-extracting features

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This commit is contained in:
matlabbe
2020-04-30 14:17:46 -04:00
parent ace93b0356
commit 5d16ae8cfe
5 changed files with 138 additions and 47 deletions
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8
corelib/include/rtabmap/core/DBDriver.h
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@@ -157,11 +157,13 @@ public:
// Load objects
void load(VWDictionary * dictionary, bool lastStateOnly = true) const;
void loadLastNodes(std::list<Signature *> & signatures) const;
void loadSignatures(const std::list<int> & ids, std::list<Signature *> & signatures, std::set<int> * loadedFromTrash = 0);
void loadWords(const std::set<int> & wordIds, std::list<VisualWord *> & vws);
void loadLastNodes(std::list<Signature *> & signatures) const; // returned signatures must be freed after usage
Signature * loadSignature(int id, bool * loadedFromTrash = 0); // returned signature must be freed after usage, call loadSignatures() instead if more than one signature should be loaded
void loadSignatures(const std::list<int> & ids, std::list<Signature *> & signatures, std::set<int> * loadedFromTrash = 0); // returned signatures must be freed after usage
void loadWords(const std::set<int> & wordIds, std::list<VisualWord *> & vws); // returned words must be freed after usage
// Specific queries...
void loadNodeData(Signature * signature, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
void loadNodeData(std::list<Signature *> & signatures, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
void getNodeData(int signatureId, SensorData & data, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
bool getCalibration(int signatureId, std::vector<CameraModel> & models, StereoCameraModel & stereoModel) const;

24
corelib/src/DBDriver.cpp
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@@ -534,6 +534,23 @@ void DBDriver::loadLastNodes(std::list<Signature *> & signatures) const
_dbSafeAccessMutex.unlock();
}
Signature * DBDriver::loadSignature(int id, bool * loadedFromTrash)
{
std::list<int> ids;
ids.push_back(id);
std::list<Signature*> signatures;
std::set<int> loadedFromTrashSet;
loadSignatures(ids, signatures, &loadedFromTrashSet);
if(loadedFromTrash && loadedFromTrashSet.size())
{
*loadedFromTrash = true;
}
if(!signatures.empty())
{
return signatures.front();
}
return 0;
}
void DBDriver::loadSignatures(const std::list<int> & signIds,
std::list<Signature *> & signatures,
std::set<int> * loadedFromTrash)
@@ -628,6 +645,13 @@ void DBDriver::loadWords(const std::set<int> & wordIds, std::list<VisualWord *>
}
}
void DBDriver::loadNodeData(Signature * signature, bool images, bool scan, bool userData, bool occupancyGrid) const
{
std::list<Signature *> signatures;
signatures.push_back(signature);
this->loadNodeData(signatures, images, scan, userData, occupancyGrid);
}
void DBDriver::loadNodeData(std::list<Signature *> & signatures, bool images, bool scan, bool userData, bool occupancyGrid) const
{
// Don't look in the trash, we assume that if we want to load

5
corelib/src/DBDriverSqlite3.cpp
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@@ -1257,7 +1257,8 @@ std::map<int, std::vector<int> > DBDriverSqlite3::getAllStatisticsWmStatesQuery(
void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures, bool images, bool scan, bool userData, bool occupancyGrid) const
{
UDEBUG("load data for %d signatures", (int)signatures.size());
UDEBUG("load data for %d signatures images=%d scan=%d userData=%d, grid=%d",
(int)signatures.size(), images?1:0, scan?1:0, userData?1:0, occupancyGrid?1:0);
if(!images && !scan && !userData && !occupancyGrid)
{
@@ -3383,7 +3384,7 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
ULOGGER_DEBUG("Time load %d calibrations=%fs", (int)nodes.size(), timer.ticks());
}
if(ids.size() != loaded)
if(ids.size() != loaded)
{
UERROR("Some signatures not found in database");
}

12
corelib/src/RegistrationVis.cpp
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@@ -221,7 +221,7 @@ Transform RegistrationVis::computeTransformationImpl(
UDEBUG("%s=%d", Parameters::kVisCorFlowMaxLevel().c_str(), _flowMaxLevel);
UDEBUG("guess=%s", guess.prettyPrint().c_str());
UDEBUG("Input(%d): from=%d words, %d 3D words, %d words descriptors, %d kpts, %d kpts3D, %d descriptors, image=%dx%d",
UDEBUG("Input(%d): from=%d words, %d 3D words, %d words descriptors, %d kpts, %d kpts3D, %d descriptors, image=%dx%d models=%d stereo=%d",
fromSignature.id(),
(int)fromSignature.getWords().size(),
(int)fromSignature.getWords3().size(),
@@ -230,9 +230,11 @@ Transform RegistrationVis::computeTransformationImpl(
(int)fromSignature.sensorData().keypoints3D().size(),
fromSignature.sensorData().descriptors().rows,
fromSignature.sensorData().imageRaw().cols,
fromSignature.sensorData().imageRaw().rows);
fromSignature.sensorData().imageRaw().rows,
(int)fromSignature.sensorData().cameraModels().size(),
fromSignature.sensorData().stereoCameraModel().isValidForProjection()?1:0);
UDEBUG("Input(%d): to=%d words, %d 3D words, %d words descriptors, %d kpts, %d kpts3D, %d descriptors, image=%dx%d",
UDEBUG("Input(%d): to=%d words, %d 3D words, %d words descriptors, %d kpts, %d kpts3D, %d descriptors, image=%dx%d models=%d stereo=%d",
toSignature.id(),
(int)toSignature.getWords().size(),
(int)toSignature.getWords3().size(),
@@ -241,7 +243,9 @@ Transform RegistrationVis::computeTransformationImpl(
(int)toSignature.sensorData().keypoints3D().size(),
toSignature.sensorData().descriptors().rows,
toSignature.sensorData().imageRaw().cols,
toSignature.sensorData().imageRaw().rows);
toSignature.sensorData().imageRaw().rows,
(int)toSignature.sensorData().cameraModels().size(),
toSignature.sensorData().stereoCameraModel().isValidForProjection()?1:0);
std::string msg;
info.projectedIDs.clear();