DatabaseViewer: fixed switched words after adding new loop closures

guilib/src/DatabaseViewer.cpp

@@ -1899,51 +1899,35 @@ void DatabaseViewer::updateConstraintView(
 
 	if(updateImageSliders)
 	{
-		bool updateA = false;
-		bool updateB = false;
 		ui_->horizontalSlider_A->blockSignals(true);
 		ui_->horizontalSlider_B->blockSignals(true);
-		// set from on left and to on right
+		// set from on left and to on right		{
-		if(ui_->horizontalSlider_A->value() != idToIndex_.value(link.from()))
+		ui_->horizontalSlider_A->setValue(idToIndex_.value(link.from()));
-		{
+		ui_->horizontalSlider_B->setValue(idToIndex_.value(link.to()));
-			ui_->horizontalSlider_A->setValue(idToIndex_.value(link.from()));
-			updateA=true;
-		}
-		if(ui_->horizontalSlider_B->value() != idToIndex_.value(link.to()))
-		{
-			ui_->horizontalSlider_B->setValue(idToIndex_.value(link.to()));
-			updateB=true;
-		}
 		ui_->horizontalSlider_A->blockSignals(false);
 		ui_->horizontalSlider_B->blockSignals(false);
-		if(updateA)
+		this->update(idToIndex_.value(link.from()),
-		{
+					ui_->label_indexA,
-			this->update(idToIndex_.value(link.from()),
+					ui_->label_parentsA,
-						ui_->label_indexA,
+					ui_->label_childrenA,
-						ui_->label_parentsA,
+					ui_->label_weightA,
-						ui_->label_childrenA,
+					ui_->label_labelA,
-						ui_->label_weightA,
+					ui_->label_stampA,
-						ui_->label_labelA,
+					ui_->graphicsView_A,
-						ui_->label_stampA,
+					ui_->widget_cloudA,
-						ui_->graphicsView_A,
+					ui_->label_idA,
-						ui_->widget_cloudA,
+					false); // don't update constraints view!
-						ui_->label_idA,
+		this->update(idToIndex_.value(link.to()),
-						false); // don't update constraints view!
+					ui_->label_indexB,
-		}
+					ui_->label_parentsB,
-		if(updateB)
+					ui_->label_childrenB,
-		{
+					ui_->label_weightB,
-			this->update(idToIndex_.value(link.to()),
+					ui_->label_labelB,
-						ui_->label_indexB,
+					ui_->label_stampB,
-						ui_->label_parentsB,
+					ui_->graphicsView_B,
-						ui_->label_childrenB,
+					ui_->widget_cloudB,
-						ui_->label_weightB,
+					ui_->label_idB,
-						ui_->label_labelB,
+					false); // don't update constraints view!
-						ui_->label_stampB,
-						ui_->graphicsView_B,
-						ui_->widget_cloudB,
-						ui_->label_idB,
-						false); // don't update constraints view!
-		}
 	}
 
 	if(ui_->constraintsViewer->isVisible())
@@ -2786,13 +2770,6 @@ void DatabaseViewer::addConstraint()
 
 bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool updateGraph)
 {
-	if(from < to)
-	{
-		int tmp = to;
-		to = from;
-		from = tmp;
-	}
-
 	if(from == to)
 	{
 		UWARN("Cannot add link to same node");
@@ -2846,8 +2823,8 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool updateGra
 
 			if(!silent)
 			{
-				ui_->graphicsView_A->setFeatures(tmpMemory.getSignature(to)->getWords());
+				ui_->graphicsView_A->setFeatures(tmpMemory.getSignature(from)->getWords());
-				ui_->graphicsView_B->setFeatures(tmpMemory.getSignature(from)->getWords());
+				ui_->graphicsView_B->setFeatures(tmpMemory.getSignature(to)->getWords());
 				updateWordsMatching();
 			}
 		}
@@ -2882,7 +2859,14 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool updateGra
 			}
 
 			// transform is valid, make a link
-			linksAdded_.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, t, variance, variance)));
+			if(from>to)
+			{
+				linksAdded_.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, t, variance, variance)));
+			}
+			else
+			{
+				linksAdded_.insert(std::make_pair(to, Link(to, from, Link::kUserClosure, t.inverse(), variance, variance)));
+			}
 			updateSlider = true;
 		}
 	}

guilib/src/ui/DatabaseViewer.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1182</width>
+    <width>1183</width>
-    <height>821</height>
+    <height>834</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -41,8 +41,8 @@
             <rect>
              <x>0</x>
              <y>0</y>
-             <width>153</width>
+             <width>154</width>
-             <height>127</height>
+             <height>136</height>
             </rect>
            </property>
            <layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
@@ -197,7 +197,7 @@
              <x>0</x>
              <y>0</y>
              <width>152</width>
-             <height>127</height>
+             <height>136</height>
             </rect>
            </property>
            <layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
@@ -339,8 +339,8 @@
     <rect>
      <x>0</x>
      <y>0</y>
-     <width>1182</width>
+     <width>1183</width>
-     <height>25</height>
+     <height>22</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuFile">
@@ -955,7 +955,7 @@
           <double>0.100000000000000</double>
          </property>
          <property name="value">
-          <double>0.900000000000000</double>
+          <double>0.600000000000000</double>
          </property>
         </widget>
        </item>
@@ -1014,7 +1014,7 @@
         <item row="0" column="0">
          <widget class="QComboBox" name="comboBox_featureType">
           <property name="currentIndex">
-           <number>4</number>
+           <number>0</number>
           </property>
           <item>
            <property name="text">