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Added PrintLoopClosureIDs action to Edit menu

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@664 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2012-12-11 19:41:44 +00:00
parent 2836d4c48c
commit 1efc675521
6 changed files with 41 additions and 7 deletions
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26
guilib/src/MainWindow.cpp
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@@ -189,6 +189,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->actionDump_the_prediction_matrix, SIGNAL(triggered()), this, SLOT(dumpThePrediction()));
connect(_ui->actionClear_cache, SIGNAL(triggered()), this, SLOT(clearTheCache()));
connect(_ui->actionAbout, SIGNAL(triggered()), _aboutDialog , SLOT(exec()));
connect(_ui->actionPrint_loop_closure_IDs_to_console, SIGNAL(triggered()), this, SLOT(printLoopClosureIds()));
connect(_ui->actionGenerate_map, SIGNAL(triggered()), this , SLOT(generateMap()));
connect(_ui->actionGenerate_local_map, SIGNAL(triggered()), this, SLOT(generateLocalMap()));
connect(_ui->actionDelete_memory, SIGNAL(triggered()), this , SLOT(deleteMemory()));
@@ -492,6 +493,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
int rejectedHyp = bool(uValue(stat.data(), Statistics::kLoopRejectedHypothesis(), 0.0f));
float highestHypothesisValue = uValue(stat.data(), Statistics::kLoopHighest_hypothesis_value(), 0.0f);
int matchId = 0;
if(highestHypothesisId > 0)
{
bool show = true;
@@ -504,6 +506,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->label_stats_loopClosuresReactivatedDetected->setText(QString::number(_ui->label_stats_loopClosuresReactivatedDetected->text().toInt() + 1));
}
_ui->label_matchId->setText(QString("Match ID = %1").arg(stat.loopClosureId()));
matchId = stat.loopClosureId();
}
else if(rejectedHyp && highestHypothesisValue >= _preferencesDialog->getLoopThr())
{
@@ -547,6 +550,8 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
}
}
}
_refIds.push_back(stat.refImageId());
_loopClosureIds.push_back(matchId);
if(_ui->imageView_loopClosure->items().size() || stat.loopClosureId()>0)
{
@@ -1222,6 +1227,25 @@ void MainWindow::stopDetection()
}
}
void MainWindow::printLoopClosureIds()
{
_ui->dockWidget_console->show();
QString msgRef;
QString msgLoop;
for(int i = 0; i<_refIds.size(); ++i)
{
msgRef.append(QString::number(_refIds[i]));
msgLoop.append(QString::number(_loopClosureIds[i]));
if(i < _refIds.size() - 1)
{
msgRef.append(" ");
msgLoop.append(" ");
}
}
_ui->widget_console->appendMsg(QString("IDs = [%1];").arg(msgRef));
_ui->widget_console->appendMsg(QString("LoopIDs = [%1];").arg(msgLoop));
}
void MainWindow::generateMap()
{
if(_graphSavingFileName.isEmpty())
@@ -1395,6 +1419,8 @@ void MainWindow::clearTheCache()
_ui->label_stats_loopClosuresDetected->setText("0");
_ui->label_stats_loopClosuresReactivatedDetected->setText("0");
_ui->label_stats_loopClosuresRejected->setText("0");
_refIds.clear();
_loopClosureIds.clear();
}
void MainWindow::updateElapsedTime()