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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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19
guilib/src/OdometryViewer.cpp
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@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/util3d_filtering.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/OdometryEvent.h"
#include "rtabmap/core/Odometry.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UConversion.h"
#include "rtabmap/utilite/UCv2Qt.h"
@@ -379,14 +380,16 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
if(!odom.data().imageRaw().empty())
{
if(odom.info().type == 0)
if(odom.info().type == (int)Odometry::kTypeF2M)
{
imageView_->setFeatures(odom.info().words, odom.data().depthRaw(), Qt::yellow);
}
else if(odom.info().type == 1)
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);
cv::KeyPoint::convert(odom.info().newCorners, kpts, 7);
imageView_->setFeatures(kpts, odom.data().depthRaw(), Qt::red);
}
@@ -418,7 +421,7 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
imageView_->setImageDepth(uCvMat2QImage(odom.data().depthOrRightRaw()));
}
if(odom.info().type == 0)
if(odom.info().type == Odometry::kTypeF2M)
{
if(imageView_->isFeaturesShown())
{
@@ -433,7 +436,9 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
}
}
}
if(odom.info().type == 1 && odom.info().cornerInliers.size())
if((odom.info().type == (int)Odometry::kTypeF2F ||
odom.info().type == (int)Odometry::kTypeViso2 ||
odom.info().type == (int)Odometry::kTypeFovis) && odom.info().cornerInliers.size())
{
if(imageView_->isFeaturesShown() || imageView_->isLinesShown())
{
@@ -448,10 +453,10 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
if(imageView_->isLinesShown())
{
imageView_->addLine(
odom.info().refCorners[odom.info().cornerInliers[i]].x,
odom.info().refCorners[odom.info().cornerInliers[i]].y,
odom.info().newCorners[odom.info().cornerInliers[i]].x,
odom.info().newCorners[odom.info().cornerInliers[i]].y,
odom.info().refCorners[odom.info().cornerInliers[i]].x,
odom.info().refCorners[odom.info().cornerInliers[i]].y,
Qt::blue);
}
}