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DbViewer::AddConstraint: don't ask ofr manual constraint if already aborted previous question (when Reg/Strategy=1).

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This commit is contained in:
matlabbe
2020-10-12 17:41:06 -04:00
parent 0e5ec91280
commit f71f00277c
1 changed files with 11 additions and 2 deletions
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13
guilib/src/DatabaseViewer.cpp
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@@ -7443,6 +7443,7 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
toS->id(),
Parameters::kRGBDLoopClosureReextractFeatures().c_str());
}
Transform guess;
bool guessFromGraphRejected = false;
if(!reg->isImageRequired())
@@ -7472,6 +7473,10 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
QMessageBox::Yes | QMessageBox::No,
QMessageBox::Yes) == QMessageBox::Yes)
{
guess = fromIter->second.inverse() * toIter->second;
}
else
{
guessFromGraphRejected = true;
}
}
@@ -7480,7 +7485,7 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
guess = fromIter->second.inverse() * toIter->second;
}
}
}
}
}
if(guess.isNull() && !silent && !guessFromGraphRejected)
{
@@ -7496,6 +7501,10 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
QMessageBox::Yes | QMessageBox::Abort,
QMessageBox::Abort) == QMessageBox::Yes)
{
guess.setIdentity();
}
else
{
guessFromGraphRejected = true;
}
}
@@ -7519,7 +7528,7 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
}
}
newLink = Link(from, to, Link::kUserClosure, t, information);
newLink = Link(from, to, Link::kUserClosure, t, information);
}
else if(!silent && !guessFromGraphRejected)
{