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Decimation parameters for feature detection cannot be negative anymore (always done based to RGB image and depth image is decimated only if it is bigger than decimated rgb image). MainWindow: fixed light blue screen-only on full rehearsal merge.

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This commit is contained in:
matlabbe
2021-06-25 12:54:52 -04:00
parent be24203840
commit eabf3e3d57
9 changed files with 112 additions and 69 deletions
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16
guilib/src/MainWindow.cpp
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@@ -1892,12 +1892,23 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
bool fastMovement = (bool)uValue(stat.data(), Statistics::kMemoryFast_movement(), 0.0f);
int rehearsalMerged = (int)uValue(stat.data(), Statistics::kMemoryRehearsal_merged(), 0.0f);
// update cache
Signature signature;
if(stat.getLastSignatureData().id() == stat.refImageId())
{
signature = stat.getLastSignatureData();
}
else if(rehearsalMerged>0 &&
rehearsalMerged == stat.getLastSignatureData().id() &&
_cachedSignatures.contains(rehearsalMerged))
{
signature = _cachedSignatures.value(rehearsalMerged);
}
if(signature.id()!=0)
{
// make sure data are uncompressed
// We don't need to uncompress images if we don't show them
bool uncompressImages = !signature.sensorData().imageCompressed().empty() && (
@@ -1918,7 +1929,8 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
uncompressScan?&tmpScan:0,
0, &tmpG, &tmpO, &tmpE);
if( uStr2Bool(_preferencesDialog->getParameter(Parameters::kMemIncrementalMemory())) &&
if( stat.getLastSignatureData().id() == stat.refImageId() &&
uStr2Bool(_preferencesDialog->getParameter(Parameters::kMemIncrementalMemory())) &&
signature.getWeight()>=0) // ignore intermediate nodes for the cache
{
if(smallMovement || fastMovement)
@@ -1962,8 +1974,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->label_matchId->clear();
int rehearsalMerged = (int)uValue(stat.data(), Statistics::kMemoryRehearsal_merged(), 0.0f);
bool rehearsedSimilarity = (float)uValue(stat.data(), Statistics::kMemoryRehearsal_id(), 0.0f) != 0.0f;
int proximityTimeDetections = (int)uValue(stat.data(), Statistics::kProximityTime_detections(), 0.0f);
bool scanMatchingSuccess = (bool)uValue(stat.data(), Statistics::kNeighborLinkRefiningAccepted(), 0.0f);