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Added missing signature info in republished data

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This commit is contained in:
matlabbe
2022-10-30 13:59:08 -07:00
parent d70924a3a4
commit 86f66cc8b8
2 changed files with 20 additions and 9 deletions
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27
guilib/src/MainWindow.cpp
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@@ -1947,6 +1947,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
signature = _cachedSignatures.value(rehearsalMerged);
}
int newIdIsTemporary = 0;
if(signature.id()!=0)
{
// make sure data are uncompressed
@@ -1976,6 +1977,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
if(smallMovement || fastMovement)
{
_cachedSignatures.insert(0, signature); // zero means temporary
newIdIsTemporary = stat.refImageId();
}
else
{
@@ -2020,7 +2022,13 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
}
}
_cachedWordsCount.insert(std::make_pair(iter->first, (float)count));
UINFO("Added %d node data to cache", iter->first);
UINFO("Added node data %d [map=%d] to cache", iter->first, iter->second.mapId());
_currentMapIds.insert(std::make_pair(iter->first, iter->second.mapId()));
if(!iter->second.getGroundTruthPose().isNull())
{
_currentGTPosesMap.insert(std::make_pair(iter->first, iter->second.getGroundTruthPose()));
}
}
}
@@ -2610,14 +2618,17 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
std::vector<int> missingIds;
for(std::map<int, Transform>::const_iterator iter=stat.poses().begin(); iter!=stat.poses().end(); ++iter)
{
QMap<int, Signature>::iterator ster = _cachedSignatures.find(iter->first);
if(ster == _cachedSignatures.end() ||
(ster.value().getWeight() >=0 && // ignore intermediate nodes
ster.value().sensorData().imageCompressed().empty() &&
ster.value().sensorData().depthOrRightCompressed().empty() &&
ster.value().sensorData().laserScanCompressed().empty()))
if(newIdIsTemporary != iter->first)
{
missingIds.push_back(iter->first);
QMap<int, Signature>::iterator ster = _cachedSignatures.find(iter->first);
if(ster == _cachedSignatures.end() ||
(ster.value().getWeight() >=0 && // ignore intermediate nodes
ster.value().sensorData().imageCompressed().empty() &&
ster.value().sensorData().depthOrRightCompressed().empty() &&
ster.value().sensorData().laserScanCompressed().empty()))
{
missingIds.push_back(iter->first);
}
}
}
if(!missingIds.empty())