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rtabmap:

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-Fixed map id not incremented on Odometry reset (identity transform was missed)
-Keeping maximum odometry variance between two loop closure updates
Odometry:
-removed parameters Odom/FeaturesRatio, Odom/LinearUpdate, Odom/AngularUpdate
-added parameter Odom/FillInfoData
-expended OdometryInfo class with features stuff
Gui:
-show inliers/outliers features in Odometry view
This commit is contained in:
Mathieu Labbe
2014-12-18 16:54:46 -05:00
parent 744e2fb3c7
commit 86a6fe202c
17 changed files with 325 additions and 382 deletions
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44
guilib/src/ImageView.cpp
View File

@@ -201,6 +201,14 @@ void ImageView::updateOpacity()
_imageDepth->setGraphicsEffect(0);
}
}
else if(_image)
{
_image->setGraphicsEffect(0);
}
else if(_imageDepth)
{
_imageDepth->setGraphicsEffect(0);
}
}
void ImageView::updateZoom()
@@ -242,13 +250,12 @@ void ImageView::wheelEvent(QWheelEvent * e)
this->setMatrix(matrix);
}
void ImageView::setFeatures(const std::multimap<int, cv::KeyPoint> & refWords)
void ImageView::setFeatures(const std::multimap<int, cv::KeyPoint> & refWords, const QColor & color)
{
qDeleteAll(_features);
_features.clear();
rtabmap::KeypointItem * item = 0;
int alpha = 70;
for(std::multimap<int, cv::KeyPoint>::const_iterator i = refWords.begin(); i != refWords.end(); ++i )
{
const cv::KeyPoint & r = (*i).second;
@@ -260,9 +267,35 @@ void ImageView::setFeatures(const std::multimap<int, cv::KeyPoint> & refWords)
"X = %5\n"
"Y = %6\n"
"Size = %7").arg(id).arg(1).arg(r.angle).arg(r.response).arg(r.pt.x).arg(r.pt.y).arg(r.size);
float radius = r.size*1.2/9.*2;
float radius = r.size/2.0f;
item = new rtabmap::KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, color);
item = new rtabmap::KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(255, 255, 0, alpha));
scene()->addItem(item);
_features.insert(id, item);
item->setVisible(_showFeatures->isChecked());
item->setZValue(1);
}
}
void ImageView::setFeatures(const std::vector<cv::KeyPoint> & features, const QColor & color)
{
qDeleteAll(_features);
_features.clear();
rtabmap::KeypointItem * item = 0;
for(unsigned int i = 0; i< features.size(); ++i )
{
const cv::KeyPoint & r = features[i];
int id = i;
QString info = QString( "WordRef = %1\n"
"Laplacian = %2\n"
"Dir = %3\n"
"Hessian = %4\n"
"X = %5\n"
"Y = %6\n"
"Size = %7").arg(id).arg(1).arg(r.angle).arg(r.response).arg(r.pt.x).arg(r.pt.y).arg(r.size);
float radius = (r.size==0?3:r.size)/2.0f;
item = new rtabmap::KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, color);
scene()->addItem(item);
_features.insert(id, item);
@@ -308,8 +341,7 @@ void ImageView::setFeatureColor(int id, const QColor & color)
{
for(int i=0; i<items.size(); ++i)
{
items[i]->setPen(QPen(color));
items[i]->setBrush(QBrush(color));
items[i]->setColor(color);
}
}
else