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Intermediate node fixes for ProximityTime and detecting more loop closures in the GUI

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matlabbe
2016-02-18 12:52:15 -05:00
parent c1c62b0738
commit 6b8ab84ba0
2 changed files with 27 additions and 20 deletions
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40
guilib/src/MainWindow.cpp
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@@ -3711,27 +3711,31 @@ void MainWindow::postProcessing()
Signature signatureFrom = _cachedSignatures[from];
Signature signatureTo = _cachedSignatures[to];
if(reextractFeatures)
if(signatureFrom.getWeight() >= 0 &&
signatureTo.getWeight() >= 0) // ignore intermediate nodes
{
signatureFrom.setWords(std::multimap<int, cv::KeyPoint>());
signatureFrom.setWords3(std::multimap<int, cv::Point3f>());
signatureTo.setWords(std::multimap<int, cv::KeyPoint>());
signatureTo.setWords3(std::multimap<int, cv::Point3f>());
}
if(reextractFeatures)
{
signatureFrom.setWords(std::multimap<int, cv::KeyPoint>());
signatureFrom.setWords3(std::multimap<int, cv::Point3f>());
signatureTo.setWords(std::multimap<int, cv::KeyPoint>());
signatureTo.setWords3(std::multimap<int, cv::Point3f>());
}
Transform transform;
RegistrationInfo info;
RegistrationVis registration(parameters);
transform = registration.computeTransformation(signatureFrom, signatureTo, Transform(), &info);
Transform transform;
RegistrationInfo info;
RegistrationVis registration(parameters);
transform = registration.computeTransformation(signatureFrom, signatureTo, Transform(), &info);
if(!transform.isNull())
{
UINFO("Added new loop closure between %d and %d.", from, to);
addedLinks.insert(from);
addedLinks.insert(to);
_currentLinksMap.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, transform, info.variance, info.variance)));
++loopClosuresAdded;
_initProgressDialog->appendText(tr("Detected loop closure %1->%2! (%3/%4)").arg(from).arg(to).arg(i+1).arg(clusters.size()));
if(!transform.isNull())
{
UINFO("Added new loop closure between %d and %d.", from, to);
addedLinks.insert(from);
addedLinks.insert(to);
_currentLinksMap.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, transform, info.variance, info.variance)));
++loopClosuresAdded;
_initProgressDialog->appendText(tr("Detected loop closure %1->%2! (%3/%4)").arg(from).arg(to).arg(i+1).arg(clusters.size()));
}
}
}
}