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RTAB-Map : added localLoopClosureId for VSLAM use...

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@877 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-06-05 19:25:16 +00:00
parent 85c2f5d1e9
commit 504e51db12
6 changed files with 25 additions and 6 deletions
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20
guilib/src/MainWindow.cpp
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@@ -489,7 +489,8 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
{
if(stat.loopClosureId()>0 || highestHypothesisId>0)
{
int id = stat.loopClosureId()>0?stat.loopClosureId():highestHypothesisId;
// order -> loop closure id -> local loop closure id -> highest loop closure hyp id
int id = stat.loopClosureId()>0?stat.loopClosureId():stat.localLoopClosureId()>0?stat.localLoopClosureId():highestHypothesisId;
if(!_imagesMap.contains(id))
{
QByteArray ba;
@@ -505,12 +506,19 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
int rejectedHyp = bool(uValue(stat.data(), Statistics::kLoopRejectedHypothesis(), 0.0f));
float highestHypothesisValue = uValue(stat.data(), Statistics::kLoopHighest_hypothesis_value(), 0.0f);
int matchId = 0;
if(highestHypothesisId > 0)
if(highestHypothesisId > 0 || stat.localLoopClosureId())
{
bool show = true;
if(stat.loopClosureId() > 0)
{
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(Qt::green));
if(highestHypothesisId != stat.loopClosureId())
{
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(Qt::yellow));
}
else
{
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(Qt::green));
}
_ui->label_stats_loopClosuresDetected->setText(QString::number(_ui->label_stats_loopClosuresDetected->text().toInt() + 1));
if(highestHypothesisIsSaved)
{
@@ -519,6 +527,12 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->label_matchId->setText(QString("Match ID = %1").arg(stat.loopClosureId()));
matchId = stat.loopClosureId();
}
else if(stat.localLoopClosureId())
{
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(Qt::yellow));
_ui->label_matchId->setText(QString("Local match (%1)").arg(stat.localLoopClosureId()));
}
else if(rejectedHyp && highestHypothesisValue >= _preferencesDialog->getLoopThr())
{
show = _preferencesDialog->imageRejectedShown() || _preferencesDialog->imageHighestHypShown();;