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DbViewer: removed graph optimization from latest optimized poses (see http://official-rtab-map-forum.67519.x6.nabble.com/Database-Post-Processing-Save-refined-links-td6504.html)

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This commit is contained in:
matlabbe
2020-03-01 16:59:46 -05:00
parent dceec711e0
commit cb80d85dd6
2 changed files with 1 additions and 38 deletions
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4
guilib/include/rtabmap/gui/DatabaseViewer.h
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@@ -213,7 +213,6 @@ private:
std::list<std::map<int, rtabmap::Transform> > graphes_; std::list<std::map<int, rtabmap::Transform> > graphes_;
std::multimap<int, rtabmap::Link> graphLinks_; std::multimap<int, rtabmap::Link> graphLinks_;
std::map<int, rtabmap::Transform> odomPoses_; std::map<int, rtabmap::Transform> odomPoses_;
std::map<int, rtabmap::Transform> dbOptimizedPoses_;
std::map<int, rtabmap::Transform> groundTruthPoses_; std::map<int, rtabmap::Transform> groundTruthPoses_;
std::map<int, rtabmap::Transform> gpsPoses_; std::map<int, rtabmap::Transform> gpsPoses_;
std::map<int, GPS> gpsValues_; std::map<int, GPS> gpsValues_;
@@ -242,9 +241,6 @@ private:
double infoTotalOdom_; double infoTotalOdom_;
double infoTotalTime_; double infoTotalTime_;
int infoSessions_; int infoSessions_;
bool useLastOptimizedGraphAsGuess_;
std::map<int, Transform> lastOptimizedGraph_;
}; };
} }

35
guilib/src/DatabaseViewer.cpp
View File

@@ -110,8 +110,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
iniFilePath_(ini), iniFilePath_(ini),
infoReducedGraph_(false), infoReducedGraph_(false),
infoTotalOdom_(0.0), infoTotalOdom_(0.0),
infoSessions_(0), infoSessions_(0)
useLastOptimizedGraphAsGuess_(false)
{ {
pathDatabase_ = QDir::homePath()+"/Documents/RTAB-Map"; //use home directory by default pathDatabase_ = QDir::homePath()+"/Documents/RTAB-Map"; //use home directory by default
@@ -1100,9 +1099,6 @@ bool DatabaseViewer::closeDatabase()
stereoViewer_->update(); stereoViewer_->update();
ui_->toolBox_statistics->clear(); ui_->toolBox_statistics->clear();
useLastOptimizedGraphAsGuess_ = false;
lastOptimizedGraph_.clear();
} }
ui_->actionClose_database->setEnabled(dbDriver_ != 0); ui_->actionClose_database->setEnabled(dbDriver_ != 0);
@@ -1588,7 +1584,6 @@ void DatabaseViewer::updateIds()
weights_.clear(); weights_.clear();
wmStates_.clear(); wmStates_.clear();
odomPoses_.clear(); odomPoses_.clear();
dbOptimizedPoses_.clear();
groundTruthPoses_.clear(); groundTruthPoses_.clear();
gpsPoses_.clear(); gpsPoses_.clear();
gpsValues_.clear(); gpsValues_.clear();
@@ -1779,8 +1774,6 @@ void DatabaseViewer::updateIds()
uSleep(100); uSleep(100);
QApplication::processEvents(); QApplication::processEvents();
dbOptimizedPoses_ = dbDriver_->loadOptimizedPoses();
if(!groundTruthPoses_.empty() || !gpsPoses_.empty()) if(!groundTruthPoses_.empty() || !gpsPoses_.empty())
{ {
ui_->checkBox_alignPosesWithGroundTruth->setVisible(true); ui_->checkBox_alignPosesWithGroundTruth->setVisible(true);
@@ -6277,16 +6270,6 @@ void DatabaseViewer::updateGraphView()
.arg(odomPoses_.begin()->first) .arg(odomPoses_.begin()->first)
.arg(odomPoses_.rbegin()->first)); .arg(odomPoses_.rbegin()->first));
return; return;
}
std::map<int, Transform> optimizedGraphGuess;
if(graphes_.size() && useLastOptimizedGraphAsGuess_)
{
optimizedGraphGuess = lastOptimizedGraph_;
}
else
{
optimizedGraphGuess = dbOptimizedPoses_;
} }
graphes_.clear(); graphes_.clear();
@@ -6516,22 +6499,6 @@ void DatabaseViewer::updateGraphView()
fromId, fromId,
poses, poses,
links, links,
posesOut,
linksOut);
if(optimizedGraphGuess.size() == posesOut.size())
{
bool identical=true;
for(std::map<int, Transform>::iterator iter=posesOut.begin(); iter!=posesOut.end(); ++iter)
{
if(!uContains(optimizedGraphGuess, iter->first))
{
identical = false;
break;
}
}
if(identical)
{
posesOut = optimizedGraphGuess;
posesOut, posesOut,
linksOut); linksOut);
UINFO("Connected graph of %d poses and %d links", (int)posesOut.size(), (int)linksOut.size()); UINFO("Connected graph of %d poses and %d links", (int)posesOut.size(), (int)linksOut.size());