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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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29
guilib/src/GraphViewer.cpp
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@@ -243,6 +243,7 @@ GraphViewer::GraphViewer(QWidget * parent) :
_loopClosureUserColor(Qt::red),
_loopClosureVirtualColor(Qt::magenta),
_neighborMergedColor(QColor(255,170,0)),
_landmarkColor(Qt::darkGreen),
_loopClosureRejectedColor(Qt::black),
_localPathColor(Qt::cyan),
_globalPathColor(Qt::darkMagenta),
@@ -478,6 +479,10 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
{
linkItem->setColor(_loopClosureUserColor);
}
else if(iter->second.type() == Link::kLandmark)
{
linkItem->setColor(_landmarkColor);
}
else if(iter->second.type() == Link::kLocalSpaceClosure || iter->second.type() == Link::kLocalTimeClosure)
{
if(_intraInterSessionColors)
@@ -1331,6 +1336,17 @@ void GraphViewer::setNeighborMergedColor(const QColor & color)
}
}
}
void GraphViewer::setLandmarkColor(const QColor & color)
{
_landmarkColor = color;
for(QMultiMap<int, LinkItem*>::iterator iter=_linkItems.begin(); iter!=_linkItems.end(); ++iter)
{
if(iter.value()->linkType() == Link::kLandmark)
{
iter.value()->setColor(_landmarkColor);
}
}
}
void GraphViewer::setRejectedLoopClosureColor(const QColor & color)
{
_loopClosureRejectedColor = color;
@@ -1497,6 +1513,7 @@ void GraphViewer::restoreDefaults()
setUserLoopClosureColor(Qt::red);
setVirtualLoopClosureColor(Qt::magenta);
setNeighborMergedColor(QColor(255,170,0));
setLandmarkColor(Qt::darkGreen);
setGridMapVisible(true);
setGraphVisible(true);
setGlobalPathVisible(true);
@@ -1546,6 +1563,7 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
QAction * aChangeUserLoopColor = menuLink->addAction(tr("User loop closure"));
QAction * aChangeVirtualLoopColor = menuLink->addAction(tr("Virtual loop closure"));
QAction * aChangeNeighborMergedColor = menuLink->addAction(tr("Neighbor merged"));
QAction * aChangeLandmarkColor = menuLink->addAction(tr("Landmark"));
QAction * aChangeRejectedLoopColor = menuLink->addAction(tr("Outlier loop closure"));
QAction * aChangeRejectedLoopThr = menuLink->addAction(tr("Set outlier threshold..."));
QAction * aChangeLocalPathColor = menuLink->addAction(tr("Local path"));
@@ -1562,11 +1580,12 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
aChangeUserLoopColor->setIcon(createIcon(_loopClosureUserColor));
aChangeVirtualLoopColor->setIcon(createIcon(_loopClosureVirtualColor));
aChangeNeighborMergedColor->setIcon(createIcon(_neighborMergedColor));
aChangeLandmarkColor->setIcon(createIcon(_landmarkColor));
aChangeRejectedLoopColor->setIcon(createIcon(_loopClosureRejectedColor));
aChangeLocalPathColor->setIcon(createIcon(_localPathColor));
aChangeGlobalPathColor->setIcon(createIcon(_globalPathColor));
aChangeGTColor->setIcon(createIcon(_gtPathColor));
aChangeGPSColor->setIcon(createIcon(_gpsPathColor));
aChangeGPSColor->setIcon(createIcon(_gpsPathColor));;
aChangeIntraSessionLoopColor->setIcon(createIcon(_loopIntraSessionColor));
aChangeInterSessionLoopColor->setIcon(createIcon(_loopInterSessionColor));
aChangeNeighborColor->setIconVisibleInMenu(true);
@@ -1843,6 +1862,10 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
{
color = _neighborMergedColor;
}
else if(r == aChangeLandmarkColor)
{
color = _landmarkColor;
}
else if(r == aChangeRejectedLoopColor)
{
color = _loopClosureRejectedColor;
@@ -1907,6 +1930,10 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
{
this->setNeighborMergedColor(color);
}
else if(r == aChangeLandmarkColor)
{
this->setLandmarkColor(color);
}
else if(r == aChangeRejectedLoopColor)
{
this->setRejectedLoopClosureColor(color);