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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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guilib/src/ExportBundlerDialog.cpp
+6 -7
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@@ -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
{