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fixed reset UPlot on rehearsal after small movement detected. GUI: modified color for pose correction (DarkCyan) and small movement (Gray)

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matlabbe
2015-09-14 11:31:26 -04:00
parent af32830969
commit 53fa85e38a
5 changed files with 12 additions and 4 deletions
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7
guilib/src/MainWindow.cpp
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@@ -1076,6 +1076,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
bool rehearsedSimilarity = (float)uValue(stat.data(), Statistics::kMemoryRehearsal_id(), 0.0f) != 0.0f;
int localTimeClosures = (int)uValue(stat.data(), Statistics::kLocalLoopTime_closures(), 0.0f);
bool scanMatchingSuccess = (bool)uValue(stat.data(), Statistics::kOdomCorrectionAccepted(), 0.0f);
bool smallMovement = (bool)uValue(stat.data(), Statistics::kMemorySmall_movement(), 0.0f);
_ui->label_stats_imageNumber->setText(QString("%1 [%2]").arg(stat.refImageId()).arg(refMapId));
if(rehearsalMerged > 0)
@@ -1088,12 +1089,16 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
}
else if(scanMatchingSuccess)
{
_ui->imageView_source->setBackgroundColor(Qt::gray);
_ui->imageView_source->setBackgroundColor(Qt::darkCyan);
}
else if(rehearsedSimilarity)
{
_ui->imageView_source->setBackgroundColor(Qt::darkBlue);
}
else if(smallMovement)
{
_ui->imageView_source->setBackgroundColor(Qt::gray);
}
UDEBUG("time= %d ms", time.restart());