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Fixed accumulated words bug in highest hypothesis view

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This commit is contained in:
matlabbe
2016-11-27 20:55:53 -05:00
parent 3363772ce5
commit 2f6d7f81cc
3 changed files with 28 additions and 5 deletions
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14
guilib/src/MainWindow.cpp
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@@ -3540,6 +3540,10 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
timer.start();
ULOGGER_DEBUG("refWords.size() = %d", refWords.size());
if(refWords.size())
{
_ui->imageView_source->clearFeatures();
}
for(std::multimap<int, cv::KeyPoint>::const_iterator iter = refWords.begin(); iter != refWords.end(); ++iter )
{
int id = iter->first;
@@ -3576,6 +3580,10 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
timer.start();
ULOGGER_DEBUG("loopWords.size() = %d", loopWords.size());
QList<QPair<cv::Point2f, cv::Point2f> > uniqueCorrespondences;
if(loopWords.size())
{
_ui->imageView_loopClosure->clearFeatures();
}
for(std::multimap<int, cv::KeyPoint>::const_iterator iter = loopWords.begin(); iter != loopWords.end(); ++iter )
{
int id = iter->first;
@@ -3643,6 +3651,12 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
deltaX = _ui->imageView_source->width();
}
if(refWords.size() && loopWords.size())
{
_ui->imageView_source->clearLines();
_ui->imageView_loopClosure->clearLines();
}
for(QList<QPair<cv::Point2f, cv::Point2f> >::iterator iter = uniqueCorrespondences.begin();
iter!=uniqueCorrespondences.end();
++iter)