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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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4
guilib/src/OdometryViewer.cpp
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@@ -270,13 +270,13 @@ void OdometryViewer::processData(const rtabmap::SensorData & data, const rtabmap
{
if(info.type == 0)
{
imageView_->setFeatures(info.words, Qt::yellow);
imageView_->setFeatures(info.words, data.depth(), Qt::yellow);
}
else if(info.type == 1)
{
std::vector<cv::KeyPoint> kpts;
cv::KeyPoint::convert(info.refCorners, kpts);
imageView_->setFeatures(kpts, Qt::red);
imageView_->setFeatures(kpts, data.depth(), Qt::red);
}
imageView_->clearLines();