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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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14
guilib/src/MainWindow.cpp
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@@ -328,7 +328,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(this, SIGNAL(statsReceived(rtabmap::Statistics)), this, SLOT(processStats(rtabmap::Statistics)));
qRegisterMetaType<rtabmap::Image>("rtabmap::Image");
connect(this, SIGNAL(odometryReceived(rtabmap::Image)), this, SLOT(processOdometry(rtabmap::Image)));
connect(this, SIGNAL(odometryReceived(rtabmap::Image, int)), this, SLOT(processOdometry(rtabmap::Image, int)));
connect(this, SIGNAL(noMoreImagesReceived()), this, SLOT(stopDetection()));
@@ -527,7 +527,7 @@ void MainWindow::handleEvent(UEvent* anEvent)
!_processingStatistics)
{
_lastOdometryProcessed = false; // if we receive too many odometry events!
emit odometryReceived(odomEvent->data());
emit odometryReceived(odomEvent->data(), odomEvent->quality());
}
}
else if(anEvent->getClassName().compare("ULogEvent") == 0)
@@ -550,7 +550,7 @@ void MainWindow::handleEvent(UEvent* anEvent)
}
}
void MainWindow::processOdometry(const rtabmap::Image & data)
void MainWindow::processOdometry(const rtabmap::Image & data, int quality)
{
Transform pose = data.pose();
if(pose.isNull())
@@ -560,11 +560,19 @@ void MainWindow::processOdometry(const rtabmap::Image & data)
pose = _lastOdomPose;
}
else if(quality &&
_preferencesDialog->getOdomQualityWarnThr() &&
quality < _preferencesDialog->getOdomQualityWarnThr())
{
UDEBUG("odom warn, quality=%d thr=%d", quality, _preferencesDialog->getOdomQualityWarnThr());
_ui->widget_cloudViewer->setBackgroundColor(Qt::darkYellow);
}
else
{
UDEBUG("odom ok");
_ui->widget_cloudViewer->setBackgroundColor(Qt::black);
}
_ui->statsToolBox->updateStat("/Odom inliers/", (float)data.id(), (float)quality);
if(!pose.isNull())
{
_lastOdomPose = pose;