report: added --gt option to input external ground truth file. DBView…

…er: fixed crash when unchecking "Ignore intermediate nodes".
introlab · Oct 28, 2023 · 08d0ef7 · 08d0ef7
1 parent 8da6ea1
commit 08d0ef7
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Showing 5 changed files with 259 additions and 91 deletions.
diff --git a/corelib/src/Graph.cpp b/corelib/src/Graph.cpp
@@ -430,7 +430,7 @@ bool importPoses(
 			else if(format == 1 || format==10 || format==11) // rgbd-slam format
 			{
 				std::list<std::string> strList = uSplit(str);
-				if((strList.size() ==  8 && format!=11) || (strList.size() ==  9 && format==11))
+				if((strList.size() >=  8 && format!=11) || (strList.size() ==  9 && format==11))
 				{
 					double stamp = uStr2Double(strList.front());
 					strList.pop_front();

diff --git a/corelib/src/Link.cpp b/corelib/src/Link.cpp
@@ -163,7 +163,7 @@ cv::Mat Link::uncompressUserDataConst() const
 
 Link Link::merge(const Link & link, Type outputType) const
 {
-	UASSERT(to_ == link.from());
+	UASSERT_MSG(to_ == link.from(), uFormat("merging this=%d->%d to link=%d->%d", from_, to_, link.from(), link.to()).c_str());
 	UASSERT(outputType != Link::kUndef);
 	UASSERT((link.transform().isNull() && transform_.isNull()) || (!link.transform().isNull() && !transform_.isNull()));
 	UASSERT(infMatrix_.cols == 6 && infMatrix_.rows == 6 && infMatrix_.type() == CV_64FC1);

diff --git a/corelib/src/RegistrationVis.cpp b/corelib/src/RegistrationVis.cpp
@@ -552,7 +552,7 @@ Transform RegistrationVis::computeTransformationImpl(
 							}
 						}
 
-						UDEBUG("Pprojected %d/%ld points inside %d cameras (time=%fs)", 
+						UDEBUG("Projected %d/%ld points inside %d cameras (time=%fs)", 
 							inFrame, cornersTo.size(), nCameras, t.ticks());
 					}
 				}

diff --git a/guilib/src/DatabaseViewer.cpp b/guilib/src/DatabaseViewer.cpp
@@ -7473,12 +7473,17 @@ void DatabaseViewer::updateGraphView()
 					while(uContains(weights_, link.to()) && weights_.at(link.to()) < 0)
 					{
 						std::multimap<int, Link>::iterator uter = links.find(link.to());
+						while(uter != links.end() && 
+							  uter->first==link.to() && 
+							  uter->second.from()>uter->second.to())
+						{
+							++uter;
+						}
 						if(uter != links.end())
 						{
-							UASSERT(links.count(link.to()) == 1);
 							poses.erase(link.to());
 							link = link.merge(uter->second, uter->second.type());
-							links.erase(uter);
+							links.erase(uter->first);
 						}
 						else
 						{