i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Statistics: added variance info of the loop closure/localization. GUI: Graph view option to show nodes on which loop closures/localizations happened

Browse Source
This commit is contained in:
matlabbe
2018-07-26 14:40:16 -04:00
parent 60499e895f
commit cfdee23d33
8 changed files with 161 additions and 136 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
guilib/src/GraphViewer.cpp
View File

@@ -822,30 +822,28 @@ void GraphViewer::updateMap(const cv::Mat & map8U, float resolution, float xMin,
}
}
void GraphViewer::updatePosterior(const std::map<int, float> & posterior, float fixedMax)
void GraphViewer::updatePosterior(const std::map<int, float> & posterior, float max)
{
//find max
float max = 0.0f;
for(std::map<int, float>::const_iterator iter = posterior.begin(); iter!=posterior.end(); ++iter)
if(max <= 0.0f)
{
if(iter->first > 0 && iter->second>max)
for(std::map<int, float>::const_iterator iter = posterior.begin(); iter!=posterior.end(); ++iter)
{
max = iter->second;
if(iter->first > 0 && iter->second>max)
{
max = iter->second;
}
}
}
if(max > 0.0f)
{
if(fixedMax > 0.0f && max < fixedMax)
{
max = fixedMax;
}
for(QMap<int, NodeItem*>::iterator iter = _nodeItems.begin(); iter!=_nodeItems.end(); ++iter)
{
std::map<int,float>::const_iterator jter = posterior.find(iter.key());
if(jter != posterior.end())
{
//UDEBUG("id=%d max=%f hyp=%f color = %f", iter.key(), max, jter->second, (1-jter->second/max)*240.0f/360.0f);
iter.value()->setColor(QColor::fromHsvF((1-jter->second/max)*240.0f/360.0f, 1, 1, 1)); //0=red 240=blue
float v = jter->second>max?max:jter->second;
iter.value()->setColor(QColor::fromHsvF((1-v/max)*240.0f/360.0f, 1, 1, 1)); //0=red 240=blue
}
else
{