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GUI: Added Multi-Session Localization view. CameraModel: set localTransform to optical rotation in default constructor (fixed matrix invertion errors with code ignoring setting local transform), save/read local transform in/from camera calibration yaml file (so that local transform is also exported when extracting rgb/depth images). Rtabmap: in localization mode, ignore landmarks farther than RGBD/LocalRadius if no global loop closures are already in odometry cache.

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matlabbe
2022-02-12 13:35:23 -05:00
parent f584f42ea4
commit 191e165a28
13 changed files with 612 additions and 24 deletions
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75
guilib/src/MultiSessionLocSubView.cpp Normal file
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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "rtabmap/gui/MultiSessionLocSubView.h"
#include "ui_multiSessionLocSubView.h"
namespace rtabmap {
MultiSessionLocSubView::MultiSessionLocSubView(ImageView * mainView, int mapId, QWidget * parent) :
QWidget(parent),
mapId_(mapId)
{
ui_ = new Ui_multiSessionLocSubView();
ui_->setupUi(this);
ui_->imageView->setFeaturesShown(mainView->isFeaturesShown());
ui_->imageView->setFeaturesSize(mainView->getFeaturesSize());
ui_->imageView->setAlpha(mainView->getAlpha());
ui_->imageView->setDefaultMatchingFeatureColor(mainView->getDefaultMatchingFeatureColor());
}
MultiSessionLocSubView::~MultiSessionLocSubView() {}
void MultiSessionLocSubView::updateView(
int nodeId,
const QImage & image,
const std::multimap<int, cv::KeyPoint> & features,
float locRatio,
const QColor & bgColor)
{
if(image.isNull())
{
ui_->imageView->clear();
}
else
{
ui_->imageView->setImage(image);
ui_->imageView->setFeatures(features, cv::Mat(), ui_->imageView->getDefaultMatchingFeatureColor());
ui_->imageView->setBackgroundColor(bgColor);
}
ui_->label->setText(QString("%1 [%2]").arg(nodeId).arg(mapId_));
ui_->locProgressBar->setValue(locRatio * 100);
}
void MultiSessionLocSubView::clear()
{
ui_->imageView->clear();
ui_->label->setText(QString("[%1]").arg(mapId_));
}
} /* namespace rtabmap */