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DbViewer: fixed proximity scans not shown

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matlabbe
2019-02-23 19:16:12 -05:00
parent 06ba3cfd73
commit e1290524af
1 changed files with 6 additions and 3 deletions
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9
guilib/src/DatabaseViewer.cpp
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@@ -1544,7 +1544,10 @@ void DatabaseViewer::updateIds()
for(std::multimap<int, Link>::iterator iter=unilinks.begin(); iter!=unilinks.end(); ++iter) for(std::multimap<int, Link>::iterator iter=unilinks.begin(); iter!=unilinks.end(); ++iter)
{ {
links.insert(*iter); links.insert(*iter);
links.insert(std::make_pair(iter->second.to(), iter->second.inverse())); if(graph::findLink(unilinks, iter->second.to(), iter->second.from(), false) == unilinks.end())
{
links.insert(std::make_pair(iter->second.to(), iter->second.inverse()));
}
} }
double totalOdom = 0.0; double totalOdom = 0.0;
@@ -1619,7 +1622,6 @@ void DatabaseViewer::updateIds()
ids.find(jter->second.from()) != ids.end() && ids.find(jter->second.from()) != ids.end() &&
ids.find(jter->second.to()) != ids.end() && ids.find(jter->second.to()) != ids.end() &&
graph::findLink(links_, jter->second.from(), jter->second.to()) == links_.end() && graph::findLink(links_, jter->second.from(), jter->second.to()) == links_.end() &&
graph::findLink(links, jter->second.from(), jter->second.to(), false) != links.end() &&
invertedLinkIter != links.end()) invertedLinkIter != links.end())
{ {
// check if user_data is set in opposite direction // check if user_data is set in opposite direction
@@ -4964,6 +4966,7 @@ void DatabaseViewer::updateConstraintView(
!link.userDataCompressed().empty()) !link.userDataCompressed().empty())
{ {
std::vector<int> ids; std::vector<int> ids;
UWARN("");
cv::Mat userData = link.uncompressUserDataConst(); cv::Mat userData = link.uncompressUserDataConst();
if(userData.type() == CV_8SC1 && if(userData.type() == CV_8SC1 &&
userData.rows == 1 && userData.rows == 1 &&
@@ -4972,7 +4975,7 @@ void DatabaseViewer::updateConstraintView(
memcmp(userData.data, "SCANS:", 6) == 0) memcmp(userData.data, "SCANS:", 6) == 0)
{ {
std::string scansStr = (const char *)userData.data; std::string scansStr = (const char *)userData.data;
UINFO("Detected \"%s\" in links's user data", scansStr.c_str()); UWARN("Detected \"%s\" in links's user data", scansStr.c_str());
if(!scansStr.empty()) if(!scansStr.empty())
{ {
std::list<std::string> strs = uSplit(scansStr, ':'); std::list<std::string> strs = uSplit(scansStr, ':');