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Added option in GUI to show image of the highest hypothesis

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git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@95 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-06-10 14:04:06 +00:00
parent 0f959382a8
commit b01f3191fa
5 changed files with 95 additions and 71 deletions
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111
guilib/src/MainWindow.cpp
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@@ -389,6 +389,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->imageView_loopClosure->scene()->clear();
_ui->imageView_source->resetTransform();
_ui->imageView_loopClosure->resetTransform();
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(Qt::black));
_ui->label_matchId->clear();
QPixmap refPixmap;
@@ -413,9 +414,10 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->imageView_loopClosure->setSceneRect(sceneRect);
}
ULOGGER_DEBUG("");
QImage lcImg;
if(stat.loopClosureImage())
{
QImage img = Ipl2QImage(stat.loopClosureImage());
lcImg = Ipl2QImage(stat.loopClosureImage());
//Only kept if it not added as a child in the core, that
//means it will never used for a loop closure detection
if(_preferencesDialog->isImagesKept())
@@ -426,81 +428,76 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
QByteArray ba;
QBuffer buffer(&ba);
buffer.open(QIODevice::WriteOnly);
img.save(&buffer, "JPEG"); // writes image into JPEG format
lcImg.save(&buffer, "JPEG"); // writes image into JPEG format
_imagesMap.insert(id, ba);
}
}
}
ULOGGER_DEBUG("");
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(Qt::black));
int rejectedHyp = bool(uValue(stat.data(), Statistics::kLoopRejectedHypothesis(), 0.0f));
if(stat.loopClosureId()>0)
if(highestHypothesisId > 0)
{
_ui->label_stats_loopClosuresDetected->setText(QString::number(_ui->label_stats_loopClosuresDetected->text().toInt() + 1));
if(highestHypothesisIsSaved)
bool show = true;
if(stat.loopClosureId() > 0)
{
_ui->label_stats_loopClosuresReactivatedDetected->setText(QString::number(_ui->label_stats_loopClosuresReactivatedDetected->text().toInt() + 1));
}
_ui->label_matchId->setText(QString("Match ID = %1").arg(stat.loopClosureId()));
QImage img;
QMap<int, QByteArray>::iterator iter = _imagesMap.find(stat.loopClosureId());
if(iter != _imagesMap.end())
{
if(!img.loadFromData(iter.value(), "JPEG"))
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(Qt::green));
_ui->label_stats_loopClosuresDetected->setText(QString::number(_ui->label_stats_loopClosuresDetected->text().toInt() + 1));
if(highestHypothesisIsSaved)
{
ULOGGER_ERROR("conversion from QByteArray to QImage failed");
img = QImage();
_ui->label_stats_loopClosuresReactivatedDetected->setText(QString::number(_ui->label_stats_loopClosuresReactivatedDetected->text().toInt() + 1));
}
_ui->label_matchId->setText(QString("Match ID = %1").arg(stat.loopClosureId()));
}
else if(rejectedHyp)
{
show = _preferencesDialog->imageRejectedShown() || _preferencesDialog->imageHighestHypShown();;
if(show)
{
QColor color(Qt::red);
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(color));
_ui->label_stats_loopClosuresRejected->setText(QString::number(_ui->label_stats_loopClosuresRejected->text().toInt() + 1));
_ui->label_matchId->setText(QString("Loop hypothesis (%1) rejected!").arg(highestHypothesisId));
QGraphicsTextItem * textItem = _ui->imageView_loopClosure->scene()->addText(tr("Rejected hypothesis"));
textItem->setDefaultTextColor(QColor(255-color.red(), 255-color.green(), 255-color.blue())); // color inverted
textItem->setZValue(2);
}
}
else if(stat.loopClosureImage())
else
{
img = Ipl2QImage(stat.loopClosureImage());
}
if(!img.isNull())
{
_ui->imageView_loopClosure->scene()->addPixmap(QPixmap::fromImage(img))->setVisible(this->_ui->checkBox_showImageLoop->isChecked());
}
}
else if(rejectedHyp)
{
ULOGGER_DEBUG("");
_ui->label_stats_loopClosuresRejected->setText(QString::number(_ui->label_stats_loopClosuresRejected->text().toInt() + 1));
_ui->label_matchId->setText(QString("Loop hypothesis (%1) rejected!").arg(highestHypothesisId));
if(_preferencesDialog->imageRejectedShown())
{
QColor color = Qt::yellow;
QGraphicsTextItem * textItem = _ui->imageView_loopClosure->scene()->addText(tr("Rejected hypothesis"));
textItem->setDefaultTextColor(QColor(255-color.red(), 255-color.green(), 255-color.blue())); // color inverted
textItem->setZValue(2);
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(color));
QImage img;
QMap<int, QByteArray>::iterator iter = _imagesMap.find(highestHypothesisId);
if(iter != _imagesMap.end())
show = _preferencesDialog->imageHighestHypShown();
if(show)
{
if(!img.loadFromData(iter.value(), "JPEG"))
_ui->label_matchId->setText(QString("Highest hypothesis (%1)").arg(highestHypothesisId));
}
}
if(show)
{
if(lcImg.isNull())
{
QMap<int, QByteArray>::iterator iter = _imagesMap.find(stat.loopClosureId());
if(iter != _imagesMap.end())
{
ULOGGER_ERROR("conversion from QByteArray to QImage failed");
img = QImage();
if(!lcImg.loadFromData(iter.value(), "JPEG"))
{
ULOGGER_ERROR("conversion from QByteArray to QImage failed");
lcImg = QImage();
}
}
else if(stat.loopClosureImage())
{
lcImg = Ipl2QImage(stat.loopClosureImage());
}
}
else if(stat.loopClosureImage())
{
img = Ipl2QImage(stat.loopClosureImage());
}
if(!img.isNull())
if(!lcImg.isNull())
{
_ui->imageView_loopClosure->scene()->addPixmap(QPixmap::fromImage(img));
_ui->imageView_loopClosure->scene()->addPixmap(QPixmap::fromImage(lcImg))->setVisible(this->_ui->checkBox_showImageLoop->isChecked());
}
if(highestHypothesisIsSaved)
{
_ui->label_matchId->setText(QString("[Retrieved!] ").append(_ui->label_matchId->text()));
}
}
if(highestHypothesisIsSaved)
{
_ui->label_matchId->setText(QString("[Retrieved!] ").append(_ui->label_matchId->text()));
}
}