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-Refactored HypVerification classes (added verification by signatures' similarity), there is no more complicated rejectedHypReason, now it's only true if valide or false if verification fails...

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git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@86 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-06-09 02:56:31 +00:00
parent c59d461c81
commit 25c2a9f07e
13 changed files with 202 additions and 367 deletions
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107
guilib/src/MainWindow.cpp
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@@ -303,9 +303,9 @@ void MainWindow::handleEvent(UEvent* anEvent)
RtabmapEvent * rtabmapEvent = (RtabmapEvent*)anEvent;
const Statistics & stats = rtabmapEvent->getStats();
int highestHypothesisId = int(uValue(stats.data(), Statistics::kLoopHighest_hypothesis_id(), 0.0f));
int rejectLoopReason = int(uValue(stats.data(), Statistics::kLoopRejected_reason(), 0.0f));
bool rejectedHyp = bool(uValue(stats.data(), Statistics::kLoopRejectedHypothesis(), 0.0f));
if((stats.loopClosureId() > 0 && _ui->actionPause_on_match->isChecked()) ||
(stats.loopClosureId() == 0 && highestHypothesisId > 0 && _ui->actionPause_when_a_loop_hypothesis_is_rejected->isChecked() && (rejectLoopReason >= 12 || (rejectLoopReason == 3 && uValue(stats.data(), Statistics::kLoopHighest_hypothesis_value(), 0.0f)>=_preferencesDialog->getLoopThr()))))
(stats.loopClosureId() == 0 && highestHypothesisId > 0 && _ui->actionPause_when_a_loop_hypothesis_is_rejected->isChecked() && rejectedHyp))
{
if(_state != kPaused)
{
@@ -423,7 +423,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
}
ULOGGER_DEBUG("");
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(Qt::black));
int rejectLoopReason = int(uValue(stat.data(), Statistics::kLoopRejected_reason(), 0.0f));
int rejectedHyp = bool(uValue(stat.data(), Statistics::kLoopRejectedHypothesis(), 0.0f));
if(stat.loopClosureId()>0)
{
_ui->label_stats_loopClosuresDetected->setText(QString::number(_ui->label_stats_loopClosuresDetected->text().toInt() + 1));
@@ -453,8 +453,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->imageView_loopClosure->scene()->addPixmap(QPixmap::fromImage(img))->setVisible(this->_ui->checkBox_showImageLoop->isChecked());
}
}
else if(rejectLoopReason>=12 ||
(rejectLoopReason == 3 && uValue(stat.data(), Statistics::kLoopHighest_hypothesis_value(), 0.0f)>=_preferencesDialog->getLoopThr()))
else if(rejectedHyp)
{
ULOGGER_DEBUG("");
_ui->label_stats_loopClosuresRejected->setText(QString::number(_ui->label_stats_loopClosuresRejected->text().toInt() + 1));
@@ -462,87 +461,37 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
if(_preferencesDialog->imageRejectedShown())
{
// rejectLoopReason,
// 1 is for not enough hypotheses, [not supposed to occur if highestHypothesisId is set]
// 10 to ... means rejecting reasons from the hypotheses verification step.
// UNDEFINED, 10
// ACCEPTED, 11
// NO_HYPOTHESIS, 12
// MEMORY_IS_NULL, 13
// NOT_ENOUGH_MATCHING_PAIRS, 14
// EPIPOLAR_CONSTRAINT_FAILED, 15
// NULL_MATCHING_SURF_SIGNATURES 16
// FUNDAMENTAL_MATRIX_NOT_FOUND 17
if(rejectLoopReason == 3 ||
((rejectLoopReason-10)>=0 && (rejectLoopReason-10) < 12))
QColor color = Qt::yellow;
QGraphicsTextItem * textItem = _ui->imageView_loopClosure->scene()->addText(tr("Rejected hypothesis"));
textItem->setDefaultTextColor(QColor(255-color.red(), 255-color.green(), 255-color.blue())); // color inverted
textItem->setZValue(2);
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(color));
QImage img;
QMap<int, QByteArray>::iterator iter = _imagesMap.find(highestHypothesisId);
if(iter != _imagesMap.end())
{
QColor color;
QGraphicsTextItem * textItem = 0;
switch(rejectLoopReason)
if(!img.loadFromData(iter.value(), "JPEG"))
{
case 3:
textItem = _ui->imageView_loopClosure->scene()->addText(tr("Rejected by hypothesis ratio"));
color = Qt::yellow;
break;
case 13:
textItem = _ui->imageView_loopClosure->scene()->addText(tr("Memory is null (Intern error)"));
color = Qt::blue;
break;
case 14:
textItem = _ui->imageView_loopClosure->scene()->addText(tr("Not enough matching pairs"));
color = Qt::red;
break;
case 15:
textItem = _ui->imageView_loopClosure->scene()->addText(tr("Epipolar geometry verification failed"));
color = Qt::cyan;
break;
case 16:
textItem = _ui->imageView_loopClosure->scene()->addText(tr("Signatures are not the same type"));
color = Qt::magenta;
break;
case 17:
textItem = _ui->imageView_loopClosure->scene()->addText(tr("Fundamental matrix not found"));
color = Qt::yellow;
break;
default:
textItem = _ui->imageView_loopClosure->scene()->addText(tr("Undefined rejecting reason!?"));
color = Qt::blue;
break;
}
textItem->setDefaultTextColor(QColor(255-color.red(), 255-color.green(), 255-color.blue())); // color inverted
textItem->setZValue(2);
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(color));
QImage img;
QMap<int, QByteArray>::iterator iter = _imagesMap.find(highestHypothesisId);
if(iter != _imagesMap.end())
{
if(!img.loadFromData(iter.value(), "JPEG"))
{
ULOGGER_ERROR("conversion from QByteArray to QImage failed");
img = QImage();
}
}
else if(stat.loopClosureImage())
{
img = Ipl2QImage(stat.loopClosureImage());
}
if(!img.isNull())
{
_ui->imageView_loopClosure->scene()->addPixmap(QPixmap::fromImage(img));
ULOGGER_ERROR("conversion from QByteArray to QImage failed");
img = QImage();
}
}
else
else if(stat.loopClosureImage())
{
ULOGGER_ERROR("rejectLoopReason=%d-10 is outside of the range of Qt::GlobalColor", rejectLoopReason);
img = Ipl2QImage(stat.loopClosureImage());
}
if(!img.isNull())
{
_ui->imageView_loopClosure->scene()->addPixmap(QPixmap::fromImage(img));
}
}
}
ULOGGER_DEBUG("");
if((stat.loopClosureId()>0 || rejectLoopReason>=12) && highestHypothesisIsSaved)
{
_ui->label_matchId->setText(QString("[Retrieved!] ").append(_ui->label_matchId->text()));
if(highestHypothesisIsSaved)
{
_ui->label_matchId->setText(QString("[Retrieved!] ").append(_ui->label_matchId->text()));
}
}
ULOGGER_DEBUG("");