i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-04 09:07:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

Do not override smallMovement and fastMovement when converting to intermediate nodes to keep GUI visualization color working

Browse Source
This commit is contained in:
matlabbe
2026-05-14 00:03:24 -07:00
parent 24a5346fd6
commit a5541c8fa4
2 changed files with 11 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Rtabmap.cpp
+3 -5
View File
@@ -1592,9 +1592,6 @@ bool Rtabmap::process(
if(linkedToIntermediateNode && (smallDisplacement || tooFastMovement)) if(linkedToIntermediateNode && (smallDisplacement || tooFastMovement))
{ {
_memory->convertToIntermediate(signature->id()); _memory->convertToIntermediate(signature->id());
// Intermediate nodes should stay in the graph to properly propagate loop closure hypotheses
smallDisplacement = false;
tooFastMovement = false;
} }
} }
@@ -2231,7 +2228,7 @@ bool Rtabmap::process(
} }
} // if(_memory->getWorkingMemSize()) } // if(_memory->getWorkingMemSize())
}// !isBadSignature }// !isBadSignature
else if(!signature->isBadSignature() && (smallDisplacement || tooFastMovement)) else if(!signature->isBadSignature() && signature->getWeight()>=0 && (smallDisplacement || tooFastMovement))
{ {
_highestHypothesis = lastHighestHypothesis; _highestHypothesis = lastHighestHypothesis;
UDEBUG("smallDisplacement=%d tooFastMovement=%d", smallDisplacement?1:0, tooFastMovement?1:0); UDEBUG("smallDisplacement=%d tooFastMovement=%d", smallDisplacement?1:0, tooFastMovement?1:0);
@@ -4470,7 +4467,8 @@ bool Rtabmap::process(
signaturesRemoved.push_back(signature->id()); signaturesRemoved.push_back(signature->id());
_memory->deleteLocation(signature->id()); _memory->deleteLocation(signature->id());
} }
else if((smallDisplacement || tooFastMovement) && else if((!_memory->isIncremental() || signature->getWeight()>=0) &&
(smallDisplacement || tooFastMovement) &&
_loopClosureHypothesis.first == 0 && _loopClosureHypothesis.first == 0 &&
lastProximitySpaceClosureId == 0 && lastProximitySpaceClosureId == 0 &&
(rejectedLoopClosure || landmarksDetected.empty()) && (rejectedLoopClosure || landmarksDetected.empty()) &&
guilib/src/MainWindow.cpp
+8
View File
@@ -2459,6 +2459,14 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
{ {
_ui->imageView_source->setBackgroundColor(Qt::darkBlue); _ui->imageView_source->setBackgroundColor(Qt::darkBlue);
} }
else if(smallMovement)
{
_ui->imageView_source->setBackgroundColor(Qt::gray);
}
else if(fastMovement)
{
_ui->imageView_source->setBackgroundColor(Qt::magenta);
}
// PDF AND LIKELIHOOD // PDF AND LIKELIHOOD
if(!stat.posterior().empty() && _ui->dockWidget_posterior->isVisible()) if(!stat.posterior().empty() && _ui->dockWidget_posterior->isVisible())