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merged master to 0.11.0

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This commit is contained in:
matlabbe
2015-11-30 19:39:05 -05:00
parent e58f907440 38fd459c7b
commit fc47d07b85
9 changed files with 273 additions and 186 deletions
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guilib/src/DatabaseViewer.cpp
+45 -6
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@@ -1284,7 +1284,10 @@ void DatabaseViewer::updateIds()
if(ids_.size())
{
updateLoopClosuresSlider();
updateGraphView();
if(ui_->graphViewer->isVisible())
{
updateGraphView();
}
}
}
@@ -1391,6 +1394,16 @@ void DatabaseViewer::generateLocalGraph()
void DatabaseViewer::generateTOROGraph()
{
if(graphes_.empty())
{
this->updateGraphView();
if(graphes_.empty() || ui_->horizontalSlider_iterations->maximum() != (int)graphes_.size()-1)
{
QMessageBox::warning(this, tr("Cannot generate a graph"), tr("No graph in database?!"));
return;
}
}
if(!graphes_.size() || !graphLinks_.size())
{
QMessageBox::warning(this, tr("Cannot generate a TORO graph"), tr("No poses or no links..."));
@@ -1423,6 +1436,16 @@ void DatabaseViewer::generateTOROGraph()
void DatabaseViewer::generateG2OGraph()
{
if(graphes_.empty())
{
this->updateGraphView();
if(graphes_.empty() || ui_->horizontalSlider_iterations->maximum() != (int)graphes_.size()-1)
{
QMessageBox::warning(this, tr("Cannot generate a graph"), tr("No graph in database?!"));
return;
}
}
if(!graphes_.size() || !graphLinks_.size())
{
QMessageBox::warning(this, tr("Cannot generate a g2o graph"), tr("No poses or no links..."));
@@ -1676,6 +1699,17 @@ void DatabaseViewer::generate3DMap()
QMessageBox::warning(this, tr("Cannot generate a graph"), tr("The database is empty..."));
return;
}
if(graphes_.empty())
{
this->updateGraphView();
if(graphes_.empty() || ui_->horizontalSlider_iterations->maximum() != (int)graphes_.size()-1)
{
QMessageBox::warning(this, tr("Cannot generate a graph"), tr("No graph in database?!"));
return;
}
}
bool ok = false;
QStringList items;
items.append("1");
@@ -1905,6 +1939,16 @@ void DatabaseViewer::generate3DLaserScans()
void DatabaseViewer::detectMoreLoopClosures()
{
if(graphes_.empty())
{
this->updateGraphView();
if(graphes_.empty() || ui_->horizontalSlider_iterations->maximum() != (int)graphes_.size()-1)
{
QMessageBox::warning(this, tr("Cannot generate a graph"), tr("No graph in database?!"));
return;
}
}
const std::map<int, Transform> & optimizedPoses = graphes_.back();
int iterations = ui_->spinBox_detectMore_iterations->value();
@@ -3326,11 +3370,6 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
}
void DatabaseViewer::updateGraphView()
{
if(!ui_->graphViewer->isVisible())
{
return;
}
ui_->label_loopClosures->clear();
ui_->label_poses->clear();
if(poses_.size())