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DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter

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Mathieu Labbe
2015-03-04 17:27:44 -05:00
parent c93460aadb
commit 8fd0f3761a
20 changed files with 1101 additions and 411 deletions
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corelib/src/Memory.cpp
+9 -4
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@@ -2614,7 +2614,8 @@ bool Memory::rehearsalMerge(int oldId, int newId)
UERROR("Didn't find neighbor %d of %d in RAM...", link.to(), oldS->id());
}
}
newS->setLabel(oldS->getLabel());
oldS->setLabel("");
oldS->removeLinks(); // remove all links
oldS->addLink(Link(oldS->id(), newS->id(), Link::kGlobalClosure, Transform(), 1.0f, 1.0f)); // to keep track of the merged location
@@ -3840,7 +3841,10 @@ void Memory::getMetricConstraints(
{
Transform pose;
this->getPose(ids[i], pose, lookInDatabase);
poses.insert(std::make_pair(ids[i], pose));
if(!pose.isNull())
{
poses.insert(std::make_pair(ids[i], pose));
}
}
for(unsigned int i=0; i<ids.size(); ++i)
@@ -3850,7 +3854,7 @@ void Memory::getMetricConstraints(
std::map<int, Link> neighbors = this->getNeighborLinks(ids[i], lookInDatabase); // only direct neighbors
for(std::map<int, Link>::iterator jter=neighbors.begin(); jter!=neighbors.end(); ++jter)
{
if(uContains(poses, jter->first))
if(uContains(poses, jter->first) && jter->second.isValid())
{
bool edgeAlreadyAdded = false;
for(std::multimap<int, Link>::iterator iter = links.lower_bound(jter->first);
@@ -3873,7 +3877,8 @@ void Memory::getMetricConstraints(
for(std::map<int, Link>::iterator jter=loops.begin(); jter!=loops.end(); ++jter)
{
if(jter->first < ids[i] &&
uContains(poses, jter->first))
uContains(poses, jter->first) &&
jter->second.isValid()) // null transform means a child (rehearsed location)
{
links.insert(std::make_pair(ids[i],jter->second));
}