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Added parameter "IcpPointToPlaneMaxComplexity". Added util3d::computeNormalsComplexity(). OdomInfo has now RegistrationInfo field to avoid duplicating members.

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matlabbe
2017-09-11 13:17:53 -04:00
parent 380fc2cbde
commit aca005c287
25 changed files with 581 additions and 354 deletions
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guilib/src/OdometryViewer.cpp
+8 -8
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@@ -179,7 +179,7 @@ void OdometryViewer::clear()
void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
{
processingData_ = true;
int quality = odom.info().inliers;
int quality = odom.info().reg.inliers;
bool lost = false;
bool lostStateChanged = false;
@@ -193,11 +193,11 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
lost = true;
}
else if(odom.info().inliers>0 &&
else if(odom.info().reg.inliers>0 &&
qualityWarningThr_ &&
odom.info().inliers < qualityWarningThr_)
odom.info().reg.inliers < qualityWarningThr_)
{
UDEBUG("odom warn, quality(inliers)=%d thr=%d", odom.info().inliers, qualityWarningThr_);
UDEBUG("odom warn, quality(inliers)=%d thr=%d", odom.info().reg.inliers, qualityWarningThr_);
lostStateChanged = imageView_->getBackgroundColor() == Qt::darkRed;
imageView_->setBackgroundColor(Qt::darkYellow);
cloudView_->setBackgroundColor(Qt::darkYellow);
@@ -425,13 +425,13 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
{
if(imageView_->isFeaturesShown())
{
for(unsigned int i=0; i<odom.info().wordMatches.size(); ++i)
for(unsigned int i=0; i<odom.info().reg.matchesIDs.size(); ++i)
{
imageView_->setFeatureColor(odom.info().wordMatches[i], Qt::red); // outliers
imageView_->setFeatureColor(odom.info().reg.matchesIDs[i], Qt::red); // outliers
}
for(unsigned int i=0; i<odom.info().wordInliers.size(); ++i)
for(unsigned int i=0; i<odom.info().reg.inliersIDs.size(); ++i)
{
imageView_->setFeatureColor(odom.info().wordInliers[i], Qt::green); // inliers
imageView_->setFeatureColor(odom.info().reg.inliersIDs[i], Qt::green); // inliers
}
}
}