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Updated default Vis/EstimationType=1 (PnP). Added all fovis and viso2 parameters.

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This commit is contained in:
matlabbe
2017-05-30 18:29:49 -04:00
parent f6e21bd6c8
commit 21e716b08a
12 changed files with 1633 additions and 85 deletions
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22
guilib/src/MainWindow.cpp
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@@ -1210,10 +1210,12 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
Qt::yellow);
}
}
else if(odom.info().type == (int)Odometry::kTypeF2F || odom.info().type == (int)Odometry::kTypeViso2)
else if(odom.info().type == (int)Odometry::kTypeF2F ||
odom.info().type == (int)Odometry::kTypeViso2 ||
odom.info().type == (int)Odometry::kTypeFovis)
{
std::vector<cv::KeyPoint> kpts;
cv::KeyPoint::convert(odom.info().refCorners, kpts, 7);
cv::KeyPoint::convert(odom.info().newCorners, kpts, 7);
_ui->imageView_odometry->setFeatures(
kpts,
odom.data().depthRaw(),
@@ -1223,10 +1225,10 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
//detect if it is OdometryMono intitialization
bool monoInitialization = false;
//if(_preferencesDialog->getOdomStrategy() == ?? && odom.info().type == (int)Odometry::kTypeF2F)
//{
// monoInitialization = true;
//}
if(_preferencesDialog->getOdomStrategy() == 4 && odom.info().type == (int)Odometry::kTypeF2F)
{
monoInitialization = true;
}
_ui->imageView_odometry->clearLines();
if(lost && !monoInitialization)
@@ -1270,7 +1272,9 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
}
}
}
if((odom.info().type == (int)Odometry::kTypeF2F || odom.info().type == (int)Odometry::kTypeViso2) && odom.info().refCorners.size())
if((odom.info().type == (int)Odometry::kTypeF2F ||
odom.info().type == (int)Odometry::kTypeViso2 ||
odom.info().type == (int)Odometry::kTypeFovis) && odom.info().refCorners.size())
{
if(_ui->imageView_odometry->isFeaturesShown() || _ui->imageView_odometry->isLinesShown())
{
@@ -1286,10 +1290,10 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
if(_ui->imageView_odometry->isLinesShown())
{
_ui->imageView_odometry->addLine(
odom.info().refCorners[i].x,
odom.info().refCorners[i].y,
odom.info().newCorners[i].x,
odom.info().newCorners[i].y,
odom.info().refCorners[i].x,
odom.info().refCorners[i].y,
inliers.find(i) != inliers.end()?Qt::blue:Qt::yellow);
}
}