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Local scan matching: set larger scan points for max scan points when it is not set. Fixed missing scan Ids in links' user data to correctly visualize proximity links by space in DatabaseViewer. CloudViewer: using line instead of arrow between the referential and the frustum. removed parameter "RGBD/ProximityPathScansMerged" as visual proximity by space already does that.

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This commit is contained in:
matlabbe
2016-05-20 11:44:50 -04:00
parent b29ce28877
commit 9f6af75f79
11 changed files with 109 additions and 108 deletions
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guilib/src/DatabaseViewer.cpp
+17
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@@ -3080,6 +3080,7 @@ void DatabaseViewer::updateConstraintView(
memcmp(userData.data, "SCANS:", 6) == 0)
{
std::string scansStr = (const char *)userData.data;
UINFO("Detected \"%s\" in links's user data", scansStr.c_str());
if(!scansStr.empty())
{
std::list<std::string> strs = uSplit(scansStr, ':');
@@ -3128,6 +3129,22 @@ void DatabaseViewer::updateConstraintView(
posesOut,
linksOut);
if(poses.size() != posesOut.size())
{
UWARN("Scan poses input and output are different! %d vs %d", (int)poses.size(), (int)posesOut.size());
UWARN("Input poses: ");
for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
{
UWARN(" %d", iter->first);
}
UWARN("Input links: ");
std::multimap<int, Link> modifiedLinks = updateLinksWithModifications(links_);
for(std::multimap<int, Link>::iterator iter=modifiedLinks.begin(); iter!=modifiedLinks.end(); ++iter)
{
UWARN(" %d->%d", iter->second.from(), iter->second.to());
}
}
QTime time;
time.start();
std::map<int, rtabmap::Transform> finalPoses = optimizer->optimize(link.to(), posesOut, linksOut);