Setting global full opt by default, updated preferences defaulting to…

… g2o or gtsam if one or the other is unavailable
introlab · Dec 15, 2024 · 6e9c2c3 · 6e9c2c3
1 parent 473322d
commit 6e9c2c3
Show file tree

Hide file tree

Showing 2 changed files with 33 additions and 12 deletions.
diff --git a/guilib/src/PreferencesDialog.cpp b/guilib/src/PreferencesDialog.cpp
@@ -4871,22 +4871,43 @@ void PreferencesDialog::setParameter(const std::string & key, const std::string
 				{
 					if(valueInt==1 && combo->objectName().toStdString().compare(Parameters::kOptimizerStrategy()) == 0)
 					{
-						UWARN("Trying to set \"%s\" to g2o but RTAB-Map isn't built "
-							  "with g2o. Keeping default combo value: %s.",
-							  combo->objectName().toStdString().c_str(),
-							  combo->currentText().toStdString().c_str());
-						ok = false;
+						if(Optimizer::isAvailable(Optimizer::kTypeGTSAM)) {
+							UWARN("Trying to set \"%s\" to g2o but RTAB-Map isn't built "
+								"with g2o. Falling back to GTSAM.",
+								combo->objectName().toStdString().c_str());
+							valueInt = 2;
+						}
+						else
+						{
+							UWARN("Trying to set \"%s\" to g2o but RTAB-Map isn't built "
+								"with g2o. Keeping default combo value: %s.",
+								combo->objectName().toStdString().c_str(),
+								combo->currentText().toStdString().c_str());
+							ok = false;
+						}
 					}
 				}
 				if(!Optimizer::isAvailable(Optimizer::kTypeGTSAM))
 				{
 					if(valueInt==2 && combo->objectName().toStdString().compare(Parameters::kOptimizerStrategy()) == 0)
 					{
-						UWARN("Trying to set \"%s\" to GTSAM but RTAB-Map isn't built "
-							  "with GTSAM. Keeping default combo value: %s.",
-							  combo->objectName().toStdString().c_str(),
-							  combo->currentText().toStdString().c_str());
-						ok = false;
+#ifndef RTABMAP_ORB_SLAM
+						if(Optimizer::isAvailable(Optimizer::kTypeG2O))
+#endif
+						{
+							UWARN("Trying to set \"%s\" to GTSAM but RTAB-Map isn't built "
+								"with GTSAM. Falling back to g2o.",
+								combo->objectName().toStdString().c_str());
+							valueInt = 1;
+						}
+						else
+						{
+							UWARN("Trying to set \"%s\" to GTSAM but RTAB-Map isn't built "
+								"with GTSAM. Keeping default combo value: %s.",
+								combo->objectName().toStdString().c_str(),
+								combo->currentText().toStdString().c_str());
+							ok = false;
+						}
 					}
 				}
 				if(ok)

diff --git a/tools/Export/main.cpp b/tools/Export/main.cpp
@@ -1107,7 +1107,7 @@ int main(int argc, char * argv[])
 		}
 		if(optimizationApproach <= 1)
 		{
-			std::string optimizationApproachStr = optimizationApproach==0?"Iterative global optimization":"Full global optimization";
+			std::string optimizationApproachStr = optimizationApproach==1?"Iterative global optimization":"Full global optimization";
 			printf("Optimizing the map (%s)...\n", optimizationApproachStr.c_str());
 			if(odomPoses.empty())
 			{
@@ -1193,7 +1193,7 @@ int main(int argc, char * argv[])
 			{
 				optimizedPoses = optimizer->optimize(odomPoses.lower_bound(1)->first, posesOut, linksOut);
 			}
-			printf("Optimizing the map (%s)... done (%fs, poses=%d).\n", optimizationApproachStr.c_str(), timer.ticks(), (int)optimizedPoses.size());
+			printf("Optimizing the map (%s)... done (%fs, poses=%d, links=%d).\n", optimizationApproachStr.c_str(), timer.ticks(), (int)optimizedPoses.size(), (int)linksOut.size());
 		}
 
 		if(optimizedPoses.empty())