Fixed #1483.

corelib/src/Optimizer.cpp

@@ -612,6 +612,13 @@ void Optimizer::computeBACorrespondences(
 						sFrom.setWordsDescriptors(cv::Mat());
 						sTo.setWordsDescriptors(cv::Mat());
 					}
+					else if(sFrom.getWordsDescriptors().empty() && sTo.getWordsDescriptors().empty())
+					{
+						UWARN("Rematching features is enabled but signatures (%d and %d) don't have word descriptors!? "
+							  "Features won't be rematched. If it is an old database, do rtabmap-reprocess "
+							  "so that signatures contain word desriptors.",
+							  sFrom.id(), sTo.id());
+					}
 
 					RegistrationInfo info;
 					Transform t = reg.computeTransformationMod(sFrom, sTo, Transform(), &info);

corelib/src/RegistrationVis.cpp

@@ -372,7 +372,7 @@ Transform RegistrationVis::computeTransformationImpl(
 	   (_estimationType==1 || toSignature.getWords3().size())) // required only for 3D->3D and 2D->2D
 	{
 		// no need to extract new features, we have all the data we need
-		UDEBUG("Bypassing feature matching as descriptors and images are empty. We assume features are already matched.");
+		UDEBUG("Bypassing feature matching as descriptors are empty. We assume features are already matched.");
 	}
 	else
 	{

guilib/include/rtabmap/gui/ExportBundlerDialog.h

@@ -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);

guilib/src/ExportBundlerDialog.cpp

@@ -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
 			{

guilib/src/MainWindow.cpp

@@ -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
 	{

guilib/src/PreferencesDialog.cpp

@@ -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
 		{