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iOS: added toast info on rejected loop closures

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matlabbe
2021-06-24 22:39:25 -04:00
parent f5ab422c42
commit be24203840
1 changed files with 26 additions and 3 deletions
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29
app/ios/RTABMapApp/ViewController.swift
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@@ -389,12 +389,35 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
String(format: "Travelled distance: %.2f m\n", distanceTravelled) +
String(format: "Pose (x,y,z): %.2f %.2f %.2f", x, y, z)
}
if(self.mState == .STATE_MAPPING)
if(self.mState == .STATE_MAPPING || self.mState == .STATE_VISUALIZING_CAMERA)
{
if(loopClosureId > 0) {
self.showToast(message: "Loop closure detected!", seconds: 1);
if(self.mState == .STATE_VISUALIZING_CAMERA) {
self.showToast(message: "Localized!", seconds: 1);
}
else {
self.showToast(message: "Loop closure detected!", seconds: 1);
}
}
if(landmarkDetected > 0) {
else if(rejected > 0)
{
if(inliers >= UserDefaults.standard.integer(forKey: "MinInliers"))
{
if(optimizationMaxError > 0.0)
{
self.showToast(message: String(format: "Loop closure rejected, too high graph optimization error (%.3fm: ratio=%.3f < factor=%.1fx).", optimizationMaxError, optimizationMaxErrorRatio, UserDefaults.standard.float(forKey: "MaxOptimizationError")), seconds: 1);
}
else
{
self.showToast(message: String(format: "Loop closure rejected, graph optimization failed! You may try a different Graph Optimizer (see Mapping options)."), seconds: 1);
}
}
else
{
self.showToast(message: String(format: "Loop closure rejected, not enough inliers (%d/%d < %d).", inliers, matches, UserDefaults.standard.integer(forKey: "MinInliers")), seconds: 1);
}
}
else if(landmarkDetected > 0) {
self.showToast(message: "Landmark \(landmarkDetected) detected!", seconds: 1);
}
}