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Enabled binary visual words for dictionary (for loop closure detection).

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1677 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-09-09 21:54:32 +00:00
parent e687302ce0
commit c8593df7eb
10 changed files with 102 additions and 30 deletions
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16
guilib/src/MainWindow.cpp
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@@ -342,7 +342,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(this, SIGNAL(statsReceived(rtabmap::Statistics)), this, SLOT(processStats(rtabmap::Statistics)));
qRegisterMetaType<rtabmap::SensorData>("rtabmap::SensorData");
connect(this, SIGNAL(odometryReceived(rtabmap::SensorData, int)), this, SLOT(processOdometry(rtabmap::SensorData, int)));
connect(this, SIGNAL(odometryReceived(rtabmap::SensorData, int, float)), this, SLOT(processOdometry(rtabmap::SensorData, int, float)));
connect(this, SIGNAL(noMoreImagesReceived()), this, SLOT(stopDetection()));
@@ -531,7 +531,7 @@ void MainWindow::handleEvent(UEvent* anEvent)
!_processingStatistics)
{
_lastOdometryProcessed = false; // if we receive too many odometry events!
emit odometryReceived(odomEvent->data(), odomEvent->quality());
emit odometryReceived(odomEvent->data(), odomEvent->quality(), odomEvent->time());
}
}
else if(anEvent->getClassName().compare("ULogEvent") == 0)
@@ -554,7 +554,7 @@ void MainWindow::handleEvent(UEvent* anEvent)
}
}
void MainWindow::processOdometry(const rtabmap::SensorData & data, int quality)
void MainWindow::processOdometry(const rtabmap::SensorData & data, int quality, float time)
{
Transform pose = data.pose();
if(pose.isNull())
@@ -578,7 +578,11 @@ void MainWindow::processOdometry(const rtabmap::SensorData & data, int quality)
}
if(quality >= 0)
{
_ui->statsToolBox->updateStat("/Odom inliers/", (float)data.id(), (float)quality);
_ui->statsToolBox->updateStat("Odometry/Inliers/", (float)data.id(), (float)quality);
}
if(time > 0)
{
_ui->statsToolBox->updateStat("Odometry/Time/ms", (float)data.id(), (float)time*1000.0f);
}
if(!pose.isNull())
{
@@ -1406,10 +1410,6 @@ void MainWindow::processRtabmapEventInit(int status, const QString & info)
{
if((RtabmapEventInit::Status)status == RtabmapEventInit::kInitializing)
{
if(_state == kDetecting)
{
this->pauseDetection();
}
_initProgressDialog->setAutoClose(true, 1);
_initProgressDialog->resetProgress();
_initProgressDialog->show();