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CloudViewer: fixed opengl not refreshed on update (VTK9). Fixed File Explorer hanging (Qt 5.12). Fixed backup database not deleted after a recovery.

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matlabbe
2021-06-18 12:43:08 -04:00
parent 8d2dbe32c4
commit d75cc04ad2
10 changed files with 88 additions and 67 deletions
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70
corelib/src/Recovery.cpp
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@@ -151,43 +151,45 @@ bool databaseRecovery(
bool rgbdEnabled = Parameters::defaultRGBDEnabled();
Parameters::parse(parameters, Parameters::kRGBDEnabled(), rgbdEnabled);
bool odometryIgnored = !rgbdEnabled;
DBReader dbReader(backupPath, 0, odometryIgnored);
dbReader.init();
CameraInfo info;
SensorData data = dbReader.takeImage(&info);
int processed = 0;
if(progressState)
progressState->callback(uFormat("Recovering data of \"%s\"...", backupPath.c_str()));
while(data.isValid() && (progressState==0 || !progressState->isCanceled()))
{
std::string status;
if(!odometryIgnored && info.odomPose.isNull())
{
status = uFormat("Skipping node %d as it doesn't have odometry pose set.", data.id());
}
else
{
if(!odometryIgnored && !info.odomCovariance.empty() && info.odomCovariance.at<double>(0,0)>=9999)
{
status = uFormat("High variance detected, triggering a new map...");
rtabmap.triggerNewMap();
}
if(!rtabmap.process(data, info.odomPose, info.odomCovariance, info.odomVelocity))
{
status = uFormat("Failed processing node %d.", data.id());
}
}
if(status.empty())
{
if(progressState)
progressState->callback(status);
}
DBReader dbReader(backupPath, 0, odometryIgnored);
dbReader.init();
data = dbReader.takeImage(&info);
CameraInfo info;
SensorData data = dbReader.takeImage(&info);
int processed = 0;
if (progressState)
progressState->callback(uFormat("Recovering data of \"%s\"...", backupPath.c_str()));
while (data.isValid() && (progressState == 0 || !progressState->isCanceled()))
{
std::string status;
if (!odometryIgnored && info.odomPose.isNull())
{
status = uFormat("Skipping node %d as it doesn't have odometry pose set.", data.id());
}
else
{
if (!odometryIgnored && !info.odomCovariance.empty() && info.odomCovariance.at<double>(0, 0) >= 9999)
{
status = uFormat("High variance detected, triggering a new map...");
rtabmap.triggerNewMap();
}
if (!rtabmap.process(data, info.odomPose, info.odomCovariance, info.odomVelocity))
{
status = uFormat("Failed processing node %d.", data.id());
}
}
if (status.empty())
{
if (progressState)
progressState->callback(status);
}
if(progressState)
progressState->callback(uFormat("Processed %d/%d nodes...", ++processed, (int)ids.size()));
data = dbReader.takeImage(&info);
if (progressState)
progressState->callback(uFormat("Processed %d/%d nodes...", ++processed, (int)ids.size()));
}
}
if(progressState)