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Added a quality odometry threshold, turning the background yellow when the mapping area has too low features

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1334 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-06 18:06:49 +00:00
parent 363901cfe4
commit df0f9d60d5
12 changed files with 191 additions and 55 deletions
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4
guilib/include/rtabmap/gui/MainWindow.h
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@@ -126,7 +126,7 @@ private slots:
void selectScreenCaptureFormat(bool checked);
void takeScreenshot();
void updateElapsedTime();
void processOdometry(const rtabmap::Image & data);
void processOdometry(const rtabmap::Image & data, int quality);
void applyAllPrefSettings();
void applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags);
void applyPrefSettings(const rtabmap::ParametersMap & parameters);
@@ -156,7 +156,7 @@ private slots:
signals:
void statsReceived(const rtabmap::Statistics &);
void odometryReceived(const rtabmap::Image &);
void odometryReceived(const rtabmap::Image &, int);
void thresholdsChanged(int, int);
void stateChanged(MainWindow::State);
void rtabmapEventInitReceived(int status, const QString & info);

6
guilib/include/rtabmap/gui/OdometryViewer.h
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@@ -23,7 +23,7 @@ class RTABMAPGUI_EXP OdometryViewer : public CloudViewer, public UEventsHandler
Q_OBJECT
public:
OdometryViewer(int maxClouds = 10, int decimation = 2, float voxelSize = 0.0f, QWidget * parent = 0);
OdometryViewer(int maxClouds = 10, int decimation = 2, float voxelSize = 0.0f, int qualityWarningThr=0, QWidget * parent = 0);
virtual ~OdometryViewer() {}
protected:
@@ -35,11 +35,13 @@ private slots:
private:
UMutex dataMutex_;
std::list<rtabmap::Image> buffer_;
std::list<rtabmap::Image> data_;
int dataQuality_;
UTimer timer_;
int maxClouds_;
float voxelSize_;
int decimation_;
int qualityWarningThr_;
int id_;
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > clouds_;
QAction * _aSetVoxelSize;

1
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -113,6 +113,7 @@ public:
bool imageHighestHypShown() const;
bool beepOnPause() const;
int getKeypointsOpacity() const;
int getOdomQualityWarnThr() const;
bool isCloudMeshing(int index) const; // 0=map
bool isCloudsShown(int index) const; // 0=map, 1=odom, 2=save