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MaxGraphErrors: changed link's pointers to copy directly to avoid seg fault down the road if not used properly

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matlabbe
2026-05-01 12:16:58 -07:00
parent ba03159387
commit a41358022b
5 changed files with 203 additions and 183 deletions
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guilib/src/DatabaseViewer.cpp
+10 -10
View File
@@ -9163,9 +9163,9 @@ bool DatabaseViewer::addConstraint(int from, int to, Registration * reg, bool si
graph::MaxGraphErrors maxGraphErrors = graph::computeMaxGraphErrors(
poses,
links);
if(maxGraphErrors.linearLink)
if(maxGraphErrors.linearLink.isValid())
{
UINFO("Max optimization linear error = %f m (link %d->%d, var=%f, ratio error/std=%f)", maxGraphErrors.linear, maxGraphErrors.linearLink->from(), maxGraphErrors.linearLink->to(), maxGraphErrors.linearLink->transVariance(), maxGraphErrors.linear/sqrt(maxGraphErrors.linearLink->transVariance()));
UINFO("Max optimization linear error = %f m (link %d->%d, var=%f, ratio error/std=%f)", maxGraphErrors.linear, maxGraphErrors.linearLink.from(), maxGraphErrors.linearLink.to(), maxGraphErrors.linearLink.transVariance(), maxGraphErrors.linear/sqrt(maxGraphErrors.linearLink.transVariance()));
if(maxGraphErrors.linearRatio > maxOptimizationError)
{
msg = uFormat("Rejecting edge %d->%d because "
@@ -9175,16 +9175,16 @@ bool DatabaseViewer::addConstraint(int from, int to, Registration * reg, bool si
newLink.to(),
maxGraphErrors.linear,
maxGraphErrors.linearRatio,
maxGraphErrors.linearLink->from(),
maxGraphErrors.linearLink->to(),
sqrt(maxGraphErrors.linearLink->transVariance()),
maxGraphErrors.linearLink.from(),
maxGraphErrors.linearLink.to(),
sqrt(maxGraphErrors.linearLink.transVariance()),
Parameters::kRGBDOptimizeMaxError().c_str(),
maxOptimizationError);
}
}
if(maxGraphErrors.angularLink)
if(maxGraphErrors.angularLink.isValid())
{
UINFO("Max optimization angular error = %f deg (link %d->%d, var=%f, ratio error/std=%f)", maxGraphErrors.angular*180.0f/CV_PI, maxGraphErrors.angularLink->from(), maxGraphErrors.angularLink->to(), maxGraphErrors.angularLink->rotVariance(), maxGraphErrors.angular/sqrt(maxGraphErrors.angularLink->rotVariance()));
UINFO("Max optimization angular error = %f deg (link %d->%d, var=%f, ratio error/std=%f)", maxGraphErrors.angular*180.0f/CV_PI, maxGraphErrors.angularLink.from(), maxGraphErrors.angularLink.to(), maxGraphErrors.angularLink.rotVariance(), maxGraphErrors.angular/sqrt(maxGraphErrors.angularLink.rotVariance()));
if(maxGraphErrors.angularRatio > maxOptimizationError)
{
msg = uFormat("Rejecting edge %d->%d because "
@@ -9194,9 +9194,9 @@ bool DatabaseViewer::addConstraint(int from, int to, Registration * reg, bool si
newLink.to(),
maxGraphErrors.angular*180.0f/CV_PI,
maxGraphErrors.angularRatio,
maxGraphErrors.angularLink->from(),
maxGraphErrors.angularLink->to(),
sqrt(maxGraphErrors.angularLink->rotVariance()),
maxGraphErrors.angularLink.from(),
maxGraphErrors.angularLink.to(),
sqrt(maxGraphErrors.angularLink.rotVariance()),
Parameters::kRGBDOptimizeMaxError().c_str(),
maxOptimizationError);
}
guilib/src/MainWindow.cpp
+10 -10
View File
@@ -6879,9 +6879,9 @@ void MainWindow::postProcessing(
graph::MaxGraphErrors maxGraphErrors = graph::computeMaxGraphErrors(
poses,
links);
if(maxGraphErrors.linearLink)
if(maxGraphErrors.linearLink.isValid())
{
UINFO("Max optimization linear error = %f m (link %d->%d)", maxGraphErrors.linear, maxGraphErrors.linearLink->from(), maxGraphErrors.linearLink->to());
UINFO("Max optimization linear error = %f m (link %d->%d)", maxGraphErrors.linear, maxGraphErrors.linearLink.from(), maxGraphErrors.linearLink.to());
if(maxGraphErrors.linearRatio > optimizeMaxError)
{
msg = uFormat("Rejecting edge %d->%d because "
@@ -6890,17 +6890,17 @@ void MainWindow::postProcessing(
from,
to,
maxGraphErrors.linear,
maxGraphErrors.linearLink->from(),
maxGraphErrors.linearLink->to(),
maxGraphErrors.linearLink.from(),
maxGraphErrors.linearLink.to(),
maxGraphErrors.linearRatio,
sqrt(maxGraphErrors.linearLink->transVariance()),
sqrt(maxGraphErrors.linearLink.transVariance()),
Parameters::kRGBDOptimizeMaxError().c_str(),
optimizeMaxError);
}
}
else if(maxGraphErrors.angularLink)
else if(maxGraphErrors.angularLink.isValid())
{
UINFO("Max optimization angular error = %f deg (link %d->%d)", maxGraphErrors.angular*180.0f/M_PI, maxGraphErrors.angularLink->from(), maxGraphErrors.angularLink->to());
UINFO("Max optimization angular error = %f deg (link %d->%d)", maxGraphErrors.angular*180.0f/M_PI, maxGraphErrors.angularLink.from(), maxGraphErrors.angularLink.to());
if(maxGraphErrors.angularRatio > optimizeMaxError)
{
msg = uFormat("Rejecting edge %d->%d because "
@@ -6909,10 +6909,10 @@ void MainWindow::postProcessing(
from,
to,
maxGraphErrors.angular*180.0f/M_PI,
maxGraphErrors.angularLink->from(),
maxGraphErrors.angularLink->to(),
maxGraphErrors.angularLink.from(),
maxGraphErrors.angularLink.to(),
maxGraphErrors.angularRatio,
sqrt(maxGraphErrors.angularLink->rotVariance()),
sqrt(maxGraphErrors.angularLink.rotVariance()),
Parameters::kRGBDOptimizeMaxError().c_str(),
optimizeMaxError);
}