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Added Depth information to ImageView's keypoint items

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Mathieu Labbe
2015-05-05 11:39:30 -04:00
parent 0b5d6c84b1
commit b2bfa91153
10 changed files with 76 additions and 36 deletions
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13
guilib/src/ImageView.cpp
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@@ -38,6 +38,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QVBoxLayout>
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/gui/KeypointItem.h"
#include "rtabmap/core/util3d.h"
namespace rtabmap {
@@ -543,14 +544,14 @@ void ImageView::updateOpacity()
}
}
void ImageView::setFeatures(const std::multimap<int, cv::KeyPoint> & refWords, const QColor & color)
void ImageView::setFeatures(const std::multimap<int, cv::KeyPoint> & refWords, const cv::Mat & depth, const QColor & color)
{
qDeleteAll(_features);
_features.clear();
for(std::multimap<int, cv::KeyPoint>::const_iterator iter = refWords.begin(); iter != refWords.end(); ++iter )
{
addFeature(iter->first, iter->second, color);
addFeature(iter->first, iter->second, depth.empty()?0:util3d::getDepth(depth, iter->second.pt.x, iter->second.pt.y, false), color);
}
if(!_graphicsView->isVisible())
@@ -559,14 +560,14 @@ void ImageView::setFeatures(const std::multimap<int, cv::KeyPoint> & refWords, c
}
}
void ImageView::setFeatures(const std::vector<cv::KeyPoint> & features, const QColor & color)
void ImageView::setFeatures(const std::vector<cv::KeyPoint> & features, const cv::Mat & depth, const QColor & color)
{
qDeleteAll(_features);
_features.clear();
for(unsigned int i = 0; i< features.size(); ++i )
{
addFeature(i, features[i], color);
addFeature(i, features[i], depth.empty()?0:util3d::getDepth(depth, features[i].pt.x, features[i].pt.y, false), color);
}
if(!_graphicsView->isVisible())
@@ -575,10 +576,10 @@ void ImageView::setFeatures(const std::vector<cv::KeyPoint> & features, const QC
}
}
void ImageView::addFeature(int id, const cv::KeyPoint & kpt, QColor color)
void ImageView::addFeature(int id, const cv::KeyPoint & kpt, float depth, QColor color)
{
color.setAlpha(this->getAlpha());
rtabmap::KeypointItem * item = new rtabmap::KeypointItem(id, kpt, color);
rtabmap::KeypointItem * item = new rtabmap::KeypointItem(id, kpt, depth, color);
_features.insert(id, item);
item->setVisible(isFeaturesShown());
item->setZValue(1);