i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

New feature: Show lines between corresponding visual words (right-click on image view)

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@472 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2012-04-07 19:08:54 +00:00
parent 224a20f95b
commit 3c65931824
3 changed files with 55 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
guilib/src/ImageView.cpp
View File

@@ -47,6 +47,9 @@ ImageView::ImageView(QWidget * parent) :
_showFeatures = _menu->addAction(tr("Show features"));
_showFeatures->setCheckable(true);
_showFeatures->setChecked(true);
_showLines = _menu->addAction(tr("Show lines"));
_showLines->setCheckable(true);
_showLines->setChecked(false);
_saveImage = _menu->addAction(tr("Save picture..."));
}
@@ -70,6 +73,11 @@ bool ImageView::isFeaturesShown()
return _showFeatures->isChecked();
}
bool ImageView::isLinesShown()
{
return _showLines->isChecked();
}
void ImageView::contextMenuEvent(QContextMenuEvent * e)
{
QAction * action = _menu->exec(e->globalPos());
@@ -90,7 +98,7 @@ void ImageView::contextMenuEvent(QContextMenuEvent * e)
img.save(text);
}
}
else if(action == _showFeatures || action == _showImage)
else if(action == _showFeatures || action == _showImage || action == _showLines)
{
this->updateItemsShown();
}
@@ -105,6 +113,10 @@ void ImageView::updateItemsShown()
{
items.at(i)->setVisible(_showFeatures->isChecked());
}
else if( qgraphicsitem_cast<QGraphicsLineItem*>(items.at(i)))
{
items.at(i)->setVisible(_showLines->isChecked());
}
else if(qgraphicsitem_cast<QGraphicsPixmapItem*>(items.at(i)))
{
items.at(i)->setVisible(_showImage->isChecked());

2
guilib/src/ImageView.h
View File

@@ -40,6 +40,7 @@ public:
bool isImageShown();
bool isFeaturesShown();
bool isLinesShown();
protected:
virtual void contextMenuEvent(QContextMenuEvent * e);
@@ -59,6 +60,7 @@ private:
QMenu * _menu;
QAction * _showImage;
QAction * _showFeatures;
QAction * _showLines;
QAction * _saveImage;
};

40
guilib/src/MainWindow.cpp
View File

@@ -824,6 +824,7 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
KeypointItem * item = 0;
int alpha = _preferencesDialog->getKeypointsOpacity()*255/100;
ULOGGER_DEBUG("refWords.size() = %d", refWords.size());
QMap<int, KeypointItem*> addedKeypoints;
for(std::multimap<int, cv::KeyPoint>::const_iterator i = refWords.begin(); i != refWords.end(); ++i )
{
const cv::KeyPoint & r = (*i).second;
@@ -865,12 +866,14 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
item->setVisible(this->_ui->imageView_source->isFeaturesShown());
this->_ui->imageView_source->scene()->addItem(item);
item->setZValue(1);
addedKeypoints.insert(id, item);
}
ULOGGER_DEBUG("source time = %f s", timer.ticks());
timer.start();
item = 0;
ULOGGER_DEBUG("loopWords.size() = %d", loopWords.size());
QList<QPair<KeypointItem*, KeypointItem*> > uniqueCorrespondences;
for(std::multimap<int, cv::KeyPoint>::const_iterator i = loopWords.begin(); i != loopWords.end(); ++i )
{
const cv::KeyPoint & r = (*i).second;
@@ -888,6 +891,11 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
{
// PINK = FOUND IN LOOP SIGNATURE
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(255, 0, 255, alpha));
//To draw lines... get only unique correspondences
if(uValues(refWords, id).size() == 1 && uValues(loopWords, id).size() == 1)
{
uniqueCorrespondences.push_back(QPair<KeypointItem*, KeypointItem*>(addedKeypoints.value(id), item));
}
}
else if(id<=_lastId)
{
@@ -918,6 +926,38 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
}
_lastIds = QSet<int>::fromList(QList<int>::fromStdList(uKeys(refWords)));
}
// Draw lines between corresponding features...
// TODO: support mirror view, switching between vertical to horizontal layout
int deltaX = this->_ui->imageView_source->sceneRect().width();
int deltaY = 0;
if(_preferencesDialog->isVerticalLayoutUsed())
{
deltaX = 0;
deltaY = this->_ui->imageView_source->sceneRect().height();
}
for(QList<QPair<KeypointItem*, KeypointItem*> >::iterator iter = uniqueCorrespondences.begin();
iter!=uniqueCorrespondences.end();
++iter)
{
QGraphicsLineItem * item = this->_ui->imageView_source->scene()->addLine(
iter->first->rect().x()+iter->first->rect().width()/2,
iter->first->rect().y()+iter->first->rect().height()/2,
iter->second->rect().x()+iter->second->rect().width()/2+deltaX,
iter->second->rect().y()+iter->second->rect().height()/2+deltaY,
QPen(QColor(255, 255, 255, alpha)));
item->setVisible(this->_ui->imageView_source->isLinesShown());
item->setZValue(1);
item = this->_ui->imageView_loopClosure->scene()->addLine(
iter->first->rect().x()+iter->first->rect().width()/2-deltaX,
iter->first->rect().y()+iter->first->rect().height()/2-deltaY,
iter->second->rect().x()+iter->second->rect().width()/2,
iter->second->rect().y()+iter->second->rect().height()/2,
QPen(QColor(255, 255, 255, alpha)));
item->setVisible(this->_ui->imageView_loopClosure->isLinesShown());
item->setZValue(1);
}
}
void MainWindow::resizeEvent(QResizeEvent* anEvent)