i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added Depth information to ImageView's keypoint items

Browse Source
This commit is contained in:
Mathieu Labbe
2015-05-05 11:39:30 -04:00
parent 0b5d6c84b1
commit b2bfa91153
10 changed files with 76 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
guilib/src/MainWindow.cpp
View File

@@ -845,13 +845,13 @@ void MainWindow::processOdometry(const rtabmap::SensorData & data, const rtabmap
{
if(info.type == 0)
{
_ui->imageView_odometry->setFeatures(info.words, Qt::yellow);
_ui->imageView_odometry->setFeatures(info.words, data.depth(), Qt::yellow);
}
else if(info.type == 1)
{
std::vector<cv::KeyPoint> kpts;
cv::KeyPoint::convert(info.refCorners, kpts);
_ui->imageView_odometry->setFeatures(kpts, Qt::red);
_ui->imageView_odometry->setFeatures(kpts, data.depth(), Qt::red);
}
}
@@ -2187,7 +2187,7 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
// GREEN = NEW
color = Qt::green;
}
_ui->imageView_source->addFeature(iter->first, iter->second, color);
_ui->imageView_source->addFeature(iter->first, iter->second, 0, color);
}
ULOGGER_DEBUG("source time = %f s", timer.ticks());
@@ -2225,7 +2225,7 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
// GREEN = NEW
color = Qt::green;
}
_ui->imageView_loopClosure->addFeature(iter->first, iter->second, color);
_ui->imageView_loopClosure->addFeature(iter->first, iter->second, 0, color);
}
ULOGGER_DEBUG("loop closure time = %f s", timer.ticks());