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Added multicameras support for F2F odometry / OpticalFlow

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matlabbe
2023-10-25 14:54:20 -07:00
parent 71bb0cf226
commit 64962e8e3d
3 changed files with 63 additions and 11 deletions
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21
guilib/src/MainWindow.cpp
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@@ -1713,6 +1713,11 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
//draw lines
UASSERT(odom.info().refCorners.size() == odom.info().newCorners.size());
std::set<int> inliers(odom.info().cornerInliers.begin(), odom.info().cornerInliers.end());
int subImageWidth = 0;
if(data->cameraModels().size()>1 || data->stereoCameraModels().size()>1)
{
subImageWidth = data->cameraModels().size()?data->cameraModels()[0].imageWidth():data->stereoCameraModels()[0].left().imageWidth();
}
for(unsigned int i=0; i<odom.info().refCorners.size(); ++i)
{
if(_ui->imageView_odometry->isFeaturesShown() && inliers.find(i) != inliers.end())
@@ -1721,12 +1726,16 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
}
if(_ui->imageView_odometry->isLinesShown())
{
_ui->imageView_odometry->addLine(
odom.info().newCorners[i].x,
odom.info().newCorners[i].y,
odom.info().refCorners[i].x,
odom.info().refCorners[i].y,
inliers.find(i) != inliers.end()?Qt::blue:Qt::yellow);
// just draw lines in same camera
if(subImageWidth==0 || int(odom.info().refCorners[i].x/subImageWidth) == int(odom.info().newCorners[i].x/subImageWidth))
{
_ui->imageView_odometry->addLine(
odom.info().newCorners[i].x,
odom.info().newCorners[i].y,
odom.info().refCorners[i].x,
odom.info().refCorners[i].y,
inliers.find(i) != inliers.end()?Qt::blue:Qt::yellow);
}
}
}
}