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

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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
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40
guilib/src/MainWindow.cpp
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@@ -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)