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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) 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; return;
} }
if(_postProcessingDialog->exec() != QDialog::Accepted) if(_postProcessingDialog->exec() != QDialog::Accepted)
@@ -3344,6 +3348,7 @@ void MainWindow::postProcessing()
{ {
odomPoses.insert(*iter); // fill raw poses odomPoses.insert(*iter); // fill raw poses
} }
/*
if(jter->sensorData().cameraModels().size() == 0 && !jter->sensorData().stereoCameraModel().isValid()) if(jter->sensorData().cameraModels().size() == 0 && !jter->sensorData().stereoCameraModel().isValid())
{ {
UWARN("Calibration of %d is null.", iter->first); UWARN("Calibration of %d is null.", iter->first);
@@ -3367,7 +3372,7 @@ void MainWindow::postProcessing()
allDataAvailable = false; allDataAvailable = false;
} }
} }
} }*/
} }
else else
{ {
@@ -3410,6 +3415,7 @@ void MainWindow::postProcessing()
bool optimizeFromGraphEnd = Parameters::defaultRGBDOptimizeFromGraphEnd(); bool optimizeFromGraphEnd = Parameters::defaultRGBDOptimizeFromGraphEnd();
Parameters::parse(parameters, Parameters::kRGBDOptimizeFromGraphEnd(), optimizeFromGraphEnd); Parameters::parse(parameters, Parameters::kRGBDOptimizeFromGraphEnd(), optimizeFromGraphEnd);
bool warn = false;
int loopClosuresAdded = 0; int loopClosuresAdded = 0;
if(detectMoreLoopClosures) 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); 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); _initProgressDialog->appendText(str, Qt::darkYellow);
UWARN("%s", str.toStdString().c_str()); UWARN("%s", str.toStdString().c_str());
warn = true;
} }
} }
else 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); _initProgressDialog->appendText(str, Qt::darkYellow);
UWARN("%s", str.toStdString().c_str()); UWARN("%s", str.toStdString().c_str());
warn = true;
} }
} }
} }
@@ -3784,6 +3801,11 @@ void MainWindow::postProcessing()
false); false);
_initProgressDialog->appendText(tr("Updating map... done!")); _initProgressDialog->appendText(tr("Updating map... done!"));
if(warn)
{
_initProgressDialog->setAutoClose(false);
}
_initProgressDialog->setValue(_initProgressDialog->maximumSteps()); _initProgressDialog->setValue(_initProgressDialog->maximumSteps());
_initProgressDialog->appendText("Post-processing finished!"); _initProgressDialog->appendText("Post-processing finished!");
@@ -5149,7 +5171,7 @@ void MainWindow::exportImages()
_initProgressDialog->show(); _initProgressDialog->show();
_initProgressDialog->setMaximumSteps(_cachedSignatures.size()); _initProgressDialog->setMaximumSteps(_cachedSignatures.size());
int saved = 0; unsigned int saved = 0;
for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter) for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
{ {
int id = iter->first; 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() void PostProcessingDialog::restoreDefaults()
{ {
setDetectMoreLoopClosures(true); setDetectMoreLoopClosures(true);
setClusterRadius(0.3); setClusterRadius(0.5);
setClusterAngle(30); setClusterAngle(30);
setIterations(1); setIterations(1);
setReextractFeatures(false); setReextractFeatures(false);