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GUI: fixed missing cache not republished in appearance-only mode

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matlabbe
2023-03-04 13:38:27 -08:00
parent 70cbe52fcf
commit 98635ae33d
1 changed files with 10 additions and 4 deletions
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14
guilib/src/MainWindow.cpp
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@@ -2615,18 +2615,24 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
{
std::vector<int> missingIds;
bool ignoreNewData = smallMovement || fastMovement || signature.getWeight()<0;
for(std::map<int, Transform>::const_iterator iter=stat.poses().begin(); iter!=stat.poses().end(); ++iter)
std::set<int> ids = uKeysSet(stat.poses());
if(ids.empty())
{
if(!ignoreNewData || stat.refImageId() != iter->first)
// In appearance-only mode
ids = uKeysSet(stat.posterior());
}
for(std::set<int>::const_iterator iter=ids.lower_bound(1); iter!=ids.end(); ++iter)
{
if(!ignoreNewData || stat.refImageId() != *iter)
{
QMap<int, Signature>::iterator ster = _cachedSignatures.find(iter->first);
QMap<int, Signature>::iterator ster = _cachedSignatures.find(*iter);
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);
missingIds.push_back(*iter);
}
}
}