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Integration of OpenCV's ArUco Marker Detection (see new parameter "RGBD/MarkerDetection")

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matlabbe
2019-02-18 18:19:55 -05:00
parent 08f3e6c08e
commit d6ca37a9e7
18 changed files with 859 additions and 23 deletions
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2
guilib/include/rtabmap/gui/CloudViewer.h
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@@ -197,7 +197,7 @@ public:
const std::string & id,
const Transform & transform);
void removeCoordinate(const std::string & id);
void removeAllCoordinates();
void removeAllCoordinates(const std::string & prefix = "");
const std::set<std::string> & getAddedCoordinates() const {return _coordinates;}
void addOrUpdateLine(

2
guilib/include/rtabmap/gui/GraphViewer.h
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@@ -128,6 +128,7 @@ public:
void setUserLoopClosureColor(const QColor & color);
void setVirtualLoopClosureColor(const QColor & color);
void setNeighborMergedColor(const QColor & color);
void setLandmarkColor(const QColor & color);
void setRejectedLoopClosureColor(const QColor & color);
void setLocalPathColor(const QColor & color);
void setGlobalPathColor(const QColor & color);
@@ -170,6 +171,7 @@ private:
QColor _loopClosureUserColor;
QColor _loopClosureVirtualColor;
QColor _neighborMergedColor;
QColor _landmarkColor;
QColor _loopClosureRejectedColor;
QColor _localPathColor;
QColor _globalPathColor;

1
guilib/include/rtabmap/gui/MainWindow.h
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@@ -261,6 +261,7 @@ private:
void createAndAddFeaturesToMap(int nodeId, const Transform & pose, int mapId);
Transform alignPosesToGroundTruth(const std::map<int, Transform> & poses, const std::map<int, Transform> & groundTruth);
void drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords, const std::multimap<int, cv::KeyPoint> & loopWords);
void drawLandmarks(cv::Mat & image, const Signature & signature);
void setupMainLayout(bool vertical);
void updateSelectSourceMenu();
void applyPrefSettings(const rtabmap::ParametersMap & parameters, bool postParamEvent);

3
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -163,6 +163,9 @@ public:
bool isGraphsShown() const;
bool isLabelsShown() const;
bool isLandmarksShown() const;
bool isMarkerDetection() const;
double getMarkerLength() const;
double getVoxel() const;
double getNoiseRadius() const;
int getNoiseMinNeighbors() const;