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Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph.

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This commit is contained in:
matlabbe
2017-02-15 19:07:10 -05:00
parent 1be0d52051
commit af1cdadabd
40 changed files with 2090 additions and 1227 deletions
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56
guilib/src/MainWindow.cpp
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@@ -2174,7 +2174,7 @@ void MainWindow::updateMapCloud(
// get local transforms for frustums on the graph
if(_preferencesDialog->isFrustumsShown())
{
std::string frustumId = uFormat("f_%d_%d", mapId, iter->first);
std::string frustumId = uFormat("f_%d", iter->first);
if(_cloudViewer->getAddedFrustums().contains(frustumId))
{
_cloudViewer->updateFrustumPose(frustumId, iter->second);
@@ -2190,6 +2190,13 @@ void MainWindow::updateMapCloud(
{
QColor color = (Qt::GlobalColor)((mapId+3) % 12 + 7 );
_cloudViewer->addOrUpdateFrustum(frustumId, iter->second, t, _cloudViewer->getFrustumScale(), color);
if(_currentGTPosesMap.find(iter->first)!=_currentGTPosesMap.end())
{
std::string gtFrustumId = uFormat("f_gt_%d", iter->first);
color = Qt::gray;
_cloudViewer->addOrUpdateFrustum(gtFrustumId, _currentGTPosesMap.at(iter->first), t, _cloudViewer->getFrustumScale(), color);
}
}
}
}
@@ -2212,34 +2219,6 @@ void MainWindow::updateMapCloud(
pcl::PointXYZ pt(iter->second.x(), iter->second.y(), iter->second.z());
kter->second->push_back(pt);
}
// get local transforms for frustums on the graph
if(_preferencesDialog->isFrustumsShown() && _cachedSignatures.contains(iter->first))
{
std::string frustumId = uFormat("f_gt_%d", iter->first);
QMap<std::string, Transform>::const_iterator jter=_cloudViewer->getAddedFrustums().find(frustumId);
if(jter != _cloudViewer->getAddedFrustums().end())
{
if(jter.value() != iter->second)
{
_cloudViewer->updateFrustumPose(frustumId, iter->second);
}
}
else if(_cachedSignatures.contains(iter->first))
{
const Signature & s = _cachedSignatures.value(iter->first);
// Supporting only one frustum per node
if(s.sensorData().cameraModels().size() == 1 || s.sensorData().stereoCameraModel().isValidForProjection())
{
Transform t = s.sensorData().stereoCameraModel().isValidForProjection()?s.sensorData().stereoCameraModel().localTransform():s.sensorData().cameraModels()[0].localTransform();
if(!t.isNull())
{
QColor color = Qt::gray;
_cloudViewer->addOrUpdateFrustum(frustumId, iter->second, t, _cloudViewer->getFrustumScale(), color);
}
}
}
}
}
// add graphs
@@ -2253,6 +2232,25 @@ void MainWindow::updateMapCloud(
_cloudViewer->addOrUpdateGraph(uFormat("graph_%d", iter->first), iter->second, color);
}
if(_preferencesDialog->isFrustumsShown())
{
QMap<std::string, Transform> addedFrustums = _cloudViewer->getAddedFrustums();
UDEBUG("remove not used frustums");
for(QMap<std::string, Transform>::iterator iter = addedFrustums.begin(); iter!=addedFrustums.end(); ++iter)
{
std::list<std::string> splitted = uSplitNumChar(iter.key());
if(splitted.size() == 2)
{
int id = std::atoi(splitted.back().c_str());
if((splitted.front().compare("f_") == 0 || splitted.front().compare("f_gt_") == 0) &&
_currentPosesMap.find(id) == _currentPosesMap.end())
{
_cloudViewer->removeFrustum(iter.key());
}
}
}
}
UDEBUG("timerGraph=%fs", timerGraph.ticks());
}