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Fixed issue 34: Post-processing with intermediate nodes

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This commit is contained in:
matlabbe
2015-10-16 20:43:00 -04:00
parent 1f33c39f3c
commit b565226ee5
2 changed files with 27 additions and 5 deletions
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30
guilib/src/MainWindow.cpp
View File

@@ -3298,7 +3298,11 @@ void MainWindow::postProcessing()
{
if(_cachedSignatures.size() == 0)
{
UERROR("Signatures must be cached in the GUI to post processing.");
QMessageBox::warning(this,
tr("Post-processing..."),
tr("Signatures must be cached in the GUI for post-processing. "
"Check the option in Preferences->General Settings (GUI), then "
"refresh the cache."));
return;
}
if(_postProcessingDialog->exec() != QDialog::Accepted)
@@ -3344,6 +3348,7 @@ void MainWindow::postProcessing()
{
odomPoses.insert(*iter); // fill raw poses
}
/*
if(jter->sensorData().cameraModels().size() == 0 && !jter->sensorData().stereoCameraModel().isValid())
{
UWARN("Calibration of %d is null.", iter->first);
@@ -3367,7 +3372,7 @@ void MainWindow::postProcessing()
allDataAvailable = false;
}
}
}
}*/
}
else
{
@@ -3410,6 +3415,7 @@ void MainWindow::postProcessing()
bool optimizeFromGraphEnd = Parameters::defaultRGBDOptimizeFromGraphEnd();
Parameters::parse(parameters, Parameters::kRGBDOptimizeFromGraphEnd(), optimizeFromGraphEnd);
bool warn = false;
int loopClosuresAdded = 0;
if(detectMoreLoopClosures)
{
@@ -3716,13 +3722,24 @@ void MainWindow::postProcessing()
QString str = tr("Cannot refine link %1->%2 (converged=%3 variance=%4 correspondencesRatio=%5 (ref=%6))").arg(from).arg(to).arg(hasConverged?"true":"false").arg(variance).arg(correspondencesRatio).arg(correspondenceRatio);
_initProgressDialog->appendText(str, Qt::darkYellow);
UWARN("%s", str.toStdString().c_str());
warn = true;
}
}
else
{
QString str = tr("Cannot refine link %1->%2 (clouds empty!)").arg(from).arg(to);
QString str;
if(signatureFrom.getWeight() < 0 || signatureTo.getWeight() < 0)
{
str = tr("Cannot refine link %1->%2 (Intermediate node detected!)").arg(from).arg(to);
}
else
{
str = tr("Cannot refine link %1->%2 (clouds empty!)").arg(from).arg(to);
}
_initProgressDialog->appendText(str, Qt::darkYellow);
UWARN("%s", str.toStdString().c_str());
warn = true;
}
}
}
@@ -3784,6 +3801,11 @@ void MainWindow::postProcessing()
false);
_initProgressDialog->appendText(tr("Updating map... done!"));
if(warn)
{
_initProgressDialog->setAutoClose(false);
}
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
_initProgressDialog->appendText("Post-processing finished!");
@@ -5149,7 +5171,7 @@ void MainWindow::exportImages()
_initProgressDialog->show();
_initProgressDialog->setMaximumSteps(_cachedSignatures.size());
int saved = 0;
unsigned int saved = 0;
for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
{
int id = iter->first;

2
guilib/src/PostProcessingDialog.cpp
View File

@@ -124,7 +124,7 @@ void PostProcessingDialog::loadSettings(QSettings & settings, const QString & gr
void PostProcessingDialog::restoreDefaults()
{
setDetectMoreLoopClosures(true);
setClusterRadius(0.3);
setClusterRadius(0.5);
setClusterAngle(30);
setIterations(1);
setReextractFeatures(false);