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Parameters: Added "Reg/VarianceNormalized". Registration: Transforms are now only normalized in Registration. Added rgbd_dataset tool. MainWindow: odom inliers-only shown option. ExportCloudsDialog: ignoring intermediate nodes for texturing (if they don't have data). DatabaseViewer: "optimized" checkbox enabled in Constraints view for non-neighbor links too.

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This commit is contained in:
matlabbe
2017-05-22 11:48:01 -04:00
parent 58e6424bf7
commit 385b7e3389
20 changed files with 758 additions and 155 deletions
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40
guilib/src/MainWindow.cpp
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@@ -1120,8 +1120,13 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
bool inlier = odom.info().words.find(iter->first) != odom.info().words.end();
(*cloud)[i].r = inlier?0:255;
(*cloud)[i].g = 255;
(*cloud)[i++].b = 0;
(*cloud)[i].b = 0;
if(!_preferencesDialog->isOdomOnlyInliersShown() || inlier)
{
++i;
}
}
cloud->resize(i);
_cloudViewer->addCloud("featuresOdom", cloud, _odometryCorrection);
_cloudViewer->setCloudVisibility("featuresOdom", true);
@@ -1185,10 +1190,25 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
{
if(odom.info().type == 0)
{
_ui->imageView_odometry->setFeatures(
odom.info().words,
odom.data().depthRaw(),
Qt::yellow);
if(_preferencesDialog->isOdomOnlyInliersShown())
{
std::multimap<int, cv::KeyPoint> kpInliers;
for(unsigned int i=0; i<odom.info().wordInliers.size(); ++i)
{
kpInliers.insert(*odom.info().words.find(odom.info().wordInliers[i]));
}
_ui->imageView_odometry->setFeatures(
kpInliers,
odom.data().depthRaw(),
Qt::green);
}
else
{
_ui->imageView_odometry->setFeatures(
odom.info().words,
odom.data().depthRaw(),
Qt::yellow);
}
}
else if(odom.info().type == 1)
{
@@ -1238,7 +1258,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
if(odom.info().type == 0)
{
if(_ui->imageView_odometry->isFeaturesShown())
if(_ui->imageView_odometry->isFeaturesShown() && !_preferencesDialog->isOdomOnlyInliersShown())
{
for(unsigned int i=0; i<odom.info().wordMatches.size(); ++i)
{
@@ -5179,7 +5199,7 @@ void MainWindow::postProcessing()
if(!msg.empty())
{
UWARN("%s", msg.c_str());
_initProgressDialog->appendText(tr("%s").arg(msg.c_str()));
_initProgressDialog->appendText(tr("%1").arg(msg.c_str()));
QApplication::processEvents();
updateConstraint = false;
}
@@ -6678,7 +6698,7 @@ void MainWindow::changeState(MainWindow::State newState)
}
}
actions = _ui->menuFile->actions();
if(actions.size()==17)
if(actions.size()==16)
{
if(actions.at(2)->isSeparator())
{
@@ -6688,9 +6708,9 @@ void MainWindow::changeState(MainWindow::State newState)
{
UWARN("Menu File separators have not the same order.");
}
if(actions.at(13)->isSeparator())
if(actions.at(12)->isSeparator())
{
actions.at(13)->setVisible(!monitoring);
actions.at(12)->setVisible(!monitoring);
}
else
{