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Fixed #1483.

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This commit is contained in:
matlabbe
2025-04-13 15:58:21 -07:00
parent 08f031e11c
commit b750e94eaa
6 changed files with 50 additions and 16 deletions
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2
guilib/include/rtabmap/gui/ExportBundlerDialog.h
View File

@@ -54,7 +54,7 @@ public:
void setWorkingDirectory(const QString & path);
void exportBundler(
const std::map<int, Transform> & poses,
std::map<int, Transform> & poses,
const std::multimap<int, Link> & links,
const QMap<int, Signature> & signatures,
const ParametersMap & parameters);

13
guilib/src/ExportBundlerDialog.cpp
View File

@@ -165,7 +165,7 @@ void ExportBundlerDialog::getPath()
}
void ExportBundlerDialog::exportBundler(
const std::map<int, Transform> & poses,
std::map<int, Transform> & poses,
const std::multimap<int, Link> & links,
const QMap<int, Signature> & signatures,
const ParametersMap & parameters)
@@ -185,7 +185,6 @@ void ExportBundlerDialog::exportBundler(
std::map<int, cv::Point3f> points3DMap;
std::map<int, std::map<int, FeatureBA> > wordReferences;
std::map<int, Transform> newPoses = poses;
if(_ui->groupBox_export_points->isEnabled() && _ui->groupBox_export_points->isChecked())
{
std::map<int, Transform> posesOut;
@@ -197,7 +196,7 @@ void ExportBundlerDialog::exportBundler(
uInsert(parametersSBA, std::make_pair(Parameters::kg2oPixelVariance(), uNumber2Str(_ui->sba_variance->value())));
Optimizer * sba = Optimizer::create(sbaType, parametersSBA);
sba->getConnectedGraph(poses.begin()->first, poses, links, posesOut, linksOut);
newPoses = sba->optimizeBA(
poses = sba->optimizeBA(
posesOut.begin()->first,
posesOut,
linksOut,
@@ -207,7 +206,7 @@ void ExportBundlerDialog::exportBundler(
_ui->sba_rematchFeatures->isChecked());
delete sba;
if(newPoses.empty())
if(poses.empty())
{
QMessageBox::warning(this, tr("Exporting cameras..."), tr("SBA optimization failed! Cannot export with 3D points.").arg(path));
return;
@@ -231,7 +230,7 @@ void ExportBundlerDialog::exportBundler(
std::map<int, int> cameraIndexes;
int camIndex = 0;
std::map<int, QColor> colors;
for(std::map<int, Transform>::const_iterator iter=newPoses.begin(); iter!=newPoses.end(); ++iter)
for(std::map<int, Transform>::const_iterator iter=poses.begin(); iter!=poses.end(); ++iter)
{
QMap<int, Signature>::const_iterator ster = signatures.find(iter->first);
if(ster!= signatures.end())
@@ -536,10 +535,10 @@ void ExportBundlerDialog::exportBundler(
QMessageBox::information(this,
tr("Exporting cameras in Bundler format..."),
tr("%1 cameras/images and %2 points exported to directory \"%3\".%4")
.arg(newPoses.size())
.arg(poses.size())
.arg(points3DMap.size())
.arg(path)
.arg(newPoses.size()>cameras.size()?tr(" %1/%2 cameras ignored for too fast motion and/or blur level.").arg(newPoses.size()-cameras.size()).arg(newPoses.size()):""));
.arg(poses.size()>cameras.size()?tr(" %1/%2 cameras ignored for too fast motion and/or blur level.").arg(poses.size()-cameras.size()).arg(poses.size()):""));
}
else
{

15
guilib/src/MainWindow.cpp
View File

@@ -8320,6 +8320,21 @@ void MainWindow::exportBundlerFormat()
_currentLinksMap,
_cachedSignatures,
_preferencesDialog->getAllParameters());
if(!poses.empty())
{
UINFO("Updating map...");
this->updateMapCloud(
poses,
std::multimap<int, Link>(_currentLinksMap),
std::map<int, int>(_currentMapIds),
std::map<int, std::string>(_currentLabels),
std::map<int, Transform>(_currentGTPosesMap),
std::map<int, Transform>(),
std::multimap<int, Link>(),
false);
UINFO("Updating map... done!");
}
}
else
{

27
guilib/src/PreferencesDialog.cpp
View File

@@ -4810,8 +4810,6 @@ void PreferencesDialog::setParameter(const std::string & key, const std::string
QWidget * obj = _ui->stackedWidget->findChild<QWidget*>(key.c_str());
if(obj)
{
uInsert(_parameters, ParametersPair(key, value));
QSpinBox * spin = qobject_cast<QSpinBox *>(obj);
QDoubleSpinBox * doubleSpin = qobject_cast<QDoubleSpinBox *>(obj);
QComboBox * combo = qobject_cast<QComboBox *>(obj);
@@ -4822,18 +4820,28 @@ void PreferencesDialog::setParameter(const std::string & key, const std::string
bool ok;
if(spin)
{
spin->setValue(QString(value.c_str()).toInt(&ok));
int v = QString(value.c_str()).toInt(&ok);
if(!ok)
{
UERROR("Conversion failed from \"%s\" for parameter %s", value.c_str(), key.c_str());
UERROR("Conversion failed from \"%s\" for parameter %s. Original value (%d) is kept.", value.c_str(), key.c_str(), spin->value());
}
else
{
spin->setValue(v);
uInsert(_parameters, ParametersPair(key, value));
}
}
else if(doubleSpin)
{
doubleSpin->setValue(QString(value.c_str()).toDouble(&ok));
double v = QString(value.c_str()).toDouble(&ok);
if(!ok)
{
UERROR("Conversion failed from \"%s\" for parameter %s", value.c_str(), key.c_str());
UERROR("Conversion failed from \"%s\" for parameter %s. Original value (%f) is kept.", value.c_str(), key.c_str(), doubleSpin->value());
}
else
{
doubleSpin->setValue(v);
uInsert(_parameters, ParametersPair(key, value));
}
}
else if(combo)
@@ -4856,7 +4864,7 @@ void PreferencesDialog::setParameter(const std::string & key, const std::string
int valueInt = QString(valueCpy.c_str()).toInt(&ok);
if(!ok)
{
UERROR("Conversion failed from \"%s\" for parameter %s", valueCpy.c_str(), key.c_str());
UERROR("Conversion failed from \"%s\" for parameter %s. Original value (%d) is kept.", valueCpy.c_str(), key.c_str(), combo->currentIndex());
}
else
{
@@ -4935,6 +4943,7 @@ void PreferencesDialog::setParameter(const std::string & key, const std::string
if(ok)
{
combo->setCurrentIndex(valueInt);
uInsert(_parameters, ParametersPair(key, uNumber2Str(valueInt)));
}
}
@@ -4944,18 +4953,22 @@ void PreferencesDialog::setParameter(const std::string & key, const std::string
_ui->checkBox_useOdomFeatures->blockSignals(true);
check->setChecked(uStr2Bool(value.c_str()));
_ui->checkBox_useOdomFeatures->blockSignals(false);
uInsert(_parameters, ParametersPair(key, uBool2Str(check->isChecked())));
}
else if(radio)
{
radio->setChecked(uStr2Bool(value.c_str()));
uInsert(_parameters, ParametersPair(key, uBool2Str(radio->isChecked())));
}
else if(lineEdit)
{
lineEdit->setText(value.c_str());
uInsert(_parameters, ParametersPair(key, value));
}
else if(groupBox)
{
groupBox->setChecked(uStr2Bool(value.c_str()));
uInsert(_parameters, ParametersPair(key, uBool2Str(groupBox->isChecked())));
}
else
{