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DbViewer: fixed initial rootid with older databases, fixed RGBD/OptimizeFromGraphEnd not correctly used.

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matlabbe
2021-09-08 18:13:20 -04:00
parent 103db3181b
commit e017a0fcf4
1 changed files with 10 additions and 3 deletions
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13
guilib/src/DatabaseViewer.cpp
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@@ -1775,7 +1775,14 @@ void DatabaseViewer::updateIds()
weights_.insert(std::make_pair(ids_[i], w));
if(w>=0)
{
lastValidNodeId = ids_[i];
for(std::multimap<int, Link>::iterator iter=links.find(ids_[i]); iter!=links.end() && iter->first==ids_[i]; ++iter)
{
// Make compatible with old databases, when "weight=-1" was not yet introduced to identify ignored nodes
if(iter->second.type() == Link::kNeighbor || iter->second.type() == Link::kNeighborMerged)
{
lastValidNodeId = ids_[i];
}
}
}
if(wmStates.find(ids_[i]) != wmStates.end())
{
@@ -2007,14 +2014,14 @@ void DatabaseViewer::updateIds()
if(!posesOut.empty())
{
bool optimizeFromGraphEnd = Parameters::defaultRGBDOptimizeFromGraphEnd();
Parameters::parse(ui_->parameters_toolbox->getParameters(), Parameters::kRGBDOptimizeFromGraphEnd(), optimizeFromGraphEnd);
Parameters::parse(dbDriver_->getLastParameters(), Parameters::kRGBDOptimizeFromGraphEnd(), optimizeFromGraphEnd);
if(optimizeFromGraphEnd)
{
ui_->spinBox_optimizationsFrom->setValue(posesOut.rbegin()->first);
}
else
{
ui_->spinBox_optimizationsFrom->setValue(posesOut.upper_bound(1)->first);
ui_->spinBox_optimizationsFrom->setValue(posesOut.lower_bound(1)->first);
}
}