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GUI: visualize rehearsal darkblue when intermediate nodes are used

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matlabbe
2026-05-13 23:35:56 -07:00
parent 49a8dcfe1a
commit 53fda23580
1 changed files with 5 additions and 1 deletions
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guilib/src/MainWindow.cpp
+5 -1
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@@ -2107,6 +2107,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
} }
// For intermediate empty nodes, keep latest image shown // For intermediate empty nodes, keep latest image shown
bool rehearsedSimilarity = (float)uValue(stat.data(), Statistics::kMemoryRehearsal_id(), 0.0f) != 0.0f;
if(signature.getWeight() >= 0) if(signature.getWeight() >= 0)
{ {
_ui->imageView_source->clear(); _ui->imageView_source->clear();
@@ -2131,7 +2132,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->label_matchId->clear(); _ui->label_matchId->clear();
bool rehearsedSimilarity = (float)uValue(stat.data(), Statistics::kMemoryRehearsal_id(), 0.0f) != 0.0f;
int proximityTimeDetections = (int)uValue(stat.data(), Statistics::kProximityTime_detections(), 0.0f); int proximityTimeDetections = (int)uValue(stat.data(), Statistics::kProximityTime_detections(), 0.0f);
bool scanMatchingSuccess = (bool)uValue(stat.data(), Statistics::kNeighborLinkRefiningAccepted(), 0.0f); bool scanMatchingSuccess = (bool)uValue(stat.data(), Statistics::kNeighborLinkRefiningAccepted(), 0.0f);
_ui->label_stats_imageNumber->setText(QString("%1 [%2]").arg(stat.refImageId()).arg(refMapId)); _ui->label_stats_imageNumber->setText(QString("%1 [%2]").arg(stat.refImageId()).arg(refMapId));
@@ -2455,6 +2455,10 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
UDEBUG("time= %d ms (update loop closure viewer)", time.restart()); UDEBUG("time= %d ms (update loop closure viewer)", time.restart());
} }
} }
else if(rehearsedSimilarity)
{
_ui->imageView_source->setBackgroundColor(Qt::darkBlue);
}
// PDF AND LIKELIHOOD // PDF AND LIKELIHOOD
if(!stat.posterior().empty() && _ui->dockWidget_posterior->isVisible()) if(!stat.posterior().empty() && _ui->dockWidget_posterior->isVisible())