i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

DbViewer: disable "Add" button if one of the current images selected is not in the graph

Browse Source
This commit is contained in:
matlabbe
2017-01-05 21:10:26 -05:00
parent 8895173a2b
commit 7fa559247d
1 changed files with 6 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
guilib/src/DatabaseViewer.cpp
View File

@@ -3672,7 +3672,7 @@ void DatabaseViewer::updateConstraintButtons()
int from = ids_.at(ui_->horizontalSlider_A->value()); int from = ids_.at(ui_->horizontalSlider_A->value());
int to = ids_.at(ui_->horizontalSlider_B->value()); int to = ids_.at(ui_->horizontalSlider_B->value());
if(from!=to && from && to) if(from!=to && from && to && poses_.find(from) != poses_.end() && poses_.find(to) != poses_.end())
{ {
if((!containsLink(links_, from ,to) && !containsLink(linksAdded_, from ,to)) || if((!containsLink(links_, from ,to) && !containsLink(linksAdded_, from ,to)) ||
containsLink(linksRemoved_, from ,to)) containsLink(linksRemoved_, from ,to))
@@ -4348,10 +4348,13 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool updateGra
Optimizer * optimizer = Optimizer::create(ui_->parameters_toolbox->getParameters()); Optimizer * optimizer = Optimizer::create(ui_->parameters_toolbox->getParameters());
std::map<int, Transform> poses; std::map<int, Transform> poses;
std::multimap<int, Link> links; std::multimap<int, Link> links;
UASSERT(poses_.find(fromId) != poses_.end());
UASSERT_MSG(poses_.find(newLink.from()) != poses_.end(), uFormat("id=%d poses=%d links=%d", newLink.from(), (int)poses.size(), (int)links.size()).c_str());
UASSERT_MSG(poses_.find(newLink.to()) != poses_.end(), uFormat("id=%d poses=%d links=%d", newLink.to(), (int)poses.size(), (int)links.size()).c_str());
optimizer->getConnectedGraph(fromId, poses_, linksIn, poses, links); optimizer->getConnectedGraph(fromId, poses_, linksIn, poses, links);
UASSERT(poses.find(fromId) != poses.end()); UASSERT(poses.find(fromId) != poses.end());
UASSERT(poses.find(newLink.from()) != poses.end()); UASSERT_MSG(poses.find(newLink.from()) != poses.end(), uFormat("id=%d poses=%d links=%d", newLink.from(), (int)poses.size(), (int)links.size()).c_str());
UASSERT(poses.find(newLink.to()) != poses.end()); UASSERT_MSG(poses.find(newLink.to()) != poses.end(), uFormat("id=%d poses=%d links=%d", newLink.to(), (int)poses.size(), (int)links.size()).c_str());
UASSERT(graph::findLink(links, newLink.from(), newLink.to()) != links.end()); UASSERT(graph::findLink(links, newLink.from(), newLink.to()) != links.end());
poses = optimizer->optimize(fromId, poses, links); poses = optimizer->optimize(fromId, poses, links);
std::string msg; std::string msg;