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databaseViewer: Fixed link's covariance modified when pose correction was disabled. Link: setVariance() and setInfMatrix are now private, to force re-cloning the link if we want to change these info.

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This commit is contained in:
matlabbe
2016-07-24 13:23:22 -04:00
parent 1a1cf5f672
commit dbb29c7661
4 changed files with 30 additions and 43 deletions
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32
corelib/src/Link.cpp
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@@ -120,38 +120,6 @@ void Link::setVariance(double rotVariance, double transVariance) {
infMatrix_.at<double>(5,5) = 1.0/rotVariance;
}
void Link::setUserDataRaw(const cv::Mat & userDataRaw)
{
if(!_userDataRaw.empty())
{
UWARN("Writing new user data over existing user data. This may result in data loss.");
}
_userDataRaw = userDataRaw;
}
void Link::setUserData(const cv::Mat & userData)
{
if(!userData.empty() && (!_userDataCompressed.empty() || !_userDataRaw.empty()))
{
UWARN("Writing new user data over existing user data. This may result in data loss.");
}
_userDataRaw = cv::Mat();
_userDataCompressed = cv::Mat();
if(!userData.empty())
{
if(userData.type() == CV_8UC1) // Bytes
{
_userDataCompressed = userData; // assume compressed
}
else
{
_userDataRaw = userData;
_userDataCompressed = compressData2(userData);
}
}
}
void Link::uncompressUserData()
{
cv::Mat dataRaw = uncompressUserDataConst();

2
corelib/src/Signature.cpp
View File

@@ -115,7 +115,7 @@ void Signature::addLinks(const std::map<int, Link> & links)
}
void Signature::addLink(const Link & link)
{
UDEBUG("Add link %d to %d (type=%d)", link.to(), this->id(), (int)link.type());
UDEBUG("Add link %d to %d (type=%d var=%f,%f)", link.to(), this->id(), (int)link.type(), link.transVariance(), link.rotVariance());
UASSERT_MSG(link.from() == this->id(), uFormat("%d->%d for signature %d (type=%d)", link.from(), link.to(), this->id(), link.type()).c_str());
UASSERT_MSG(link.to() != this->id(), uFormat("%d->%d for signature %d (type=%d)", link.from(), link.to(), this->id(), link.type()).c_str());
std::pair<std::map<int, Link>::iterator, bool> pair = _links.insert(std::make_pair(link.to(), link));