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Ask to set detection rate to 0 when selecting a source database. DBReader: set 9999 covariance for the first odom pose of a database.

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matlabbe
2017-01-29 18:24:10 -05:00
parent e3b3a08f5f
commit 819db9538f
3 changed files with 23 additions and 2 deletions
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corelib/src/DBReader.cpp
+6 -1
View File
@@ -323,11 +323,16 @@ SensorData DBReader::getNextData(CameraInfo * info)
{ {
std::map<int, Link> links; std::map<int, Link> links;
_dbDriver->loadLinks(*_currentId, links, Link::kNeighbor); _dbDriver->loadLinks(*_currentId, links, Link::kNeighbor);
if(links.size()) if(links.size() && links.begin()->first < *_currentId)
{ {
// assume the first is the backward neighbor, take its variance // assume the first is the backward neighbor, take its variance
infMatrix = links.begin()->second.infMatrix(); infMatrix = links.begin()->second.infMatrix();
} }
else
{
// first node, set high variance to make rtabmap trigger a new map
infMatrix /= 9999.0;
}
} }
else else
{ {
guilib/src/ExportCloudsDialog.cpp
+1 -1
View File
@@ -129,7 +129,7 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
connect(_ui->checkBox_gainLinkedLocationsOnly, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged())); connect(_ui->checkBox_gainLinkedLocationsOnly, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->groupBox_meshing, SIGNAL(clicked(bool)), this, SIGNAL(configChanged())); connect(_ui->groupBox_meshing, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
connect(_ui->groupBox_meshing, SIGNAL(toggled(bool)), this, SIGNAL(updateReconstructionFlavor())); connect(_ui->groupBox_meshing, SIGNAL(toggled(bool)), this, SLOT(updateReconstructionFlavor()));
connect(_ui->doubleSpinBox_gp3Radius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged())); connect(_ui->doubleSpinBox_gp3Radius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_gp3Mu, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged())); connect(_ui->doubleSpinBox_gp3Mu, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_meshDecimationFactor, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged())); connect(_ui->doubleSpinBox_meshDecimationFactor, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
guilib/src/PreferencesDialog.cpp
+16
View File
@@ -2828,6 +2828,22 @@ void PreferencesDialog::selectSourceDatabase()
{ {
int r = QMessageBox::question(this, tr("Odometry in database..."), tr("Use odometry saved in database (if some saved)?"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes); int r = QMessageBox::question(this, tr("Odometry in database..."), tr("Use odometry saved in database (if some saved)?"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);
_ui->source_checkBox_ignoreOdometry->setChecked(r != QMessageBox::Yes); _ui->source_checkBox_ignoreOdometry->setChecked(r != QMessageBox::Yes);
if (_ui->general_doubleSpinBox_detectionRate->value() != 0 && _ui->general_spinBox_imagesBufferSize->value() != 0)
{
r = QMessageBox::question(this, tr("Detection rate..."),
tr("Do you want to process all frames? \n\nClicking \"Yes\" will set "
"RTAB-Map's detection rate (%1 Hz) and buffer size (%2) to 0 to make "
"sure that all frames are processed.")
.arg(_ui->general_doubleSpinBox_detectionRate->value())
.arg(_ui->general_spinBox_imagesBufferSize->value()),
QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);
if (r == QMessageBox::Yes)
{
_ui->general_doubleSpinBox_detectionRate->setValue(0.0);
_ui->general_spinBox_imagesBufferSize->setValue(0);
}
}
_ui->source_database_lineEdit_path->setText(paths.size()==1?paths.front():paths.join(";")); _ui->source_database_lineEdit_path->setText(paths.size()==1?paths.front():paths.join(";"));
_ui->source_spinBox_databaseStartPos->setValue(0); _ui->source_spinBox_databaseStartPos->setValue(0);
_ui->source_spinBox_database_cameraIndex->setValue(-1); _ui->source_spinBox_database_cameraIndex->setValue(-1);