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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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28
guilib/src/OdometryViewer.cpp
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@@ -21,11 +21,12 @@
namespace rtabmap {
OdometryViewer::OdometryViewer(int maxClouds, int decimation, float voxelSize, QWidget * parent) :
OdometryViewer::OdometryViewer(int maxClouds, int decimation, float voxelSize, int qualityWarningThr, QWidget * parent) :
CloudViewer(parent),
maxClouds_(maxClouds),
voxelSize_(voxelSize),
decimation_(decimation),
qualityWarningThr_(qualityWarningThr),
id_(0),
_aSetVoxelSize(0),
_aSetDecimation(0),
@@ -48,11 +49,14 @@ OdometryViewer::OdometryViewer(int maxClouds, int decimation, float voxelSize, Q
void OdometryViewer::processData()
{
rtabmap::Image data;
int quality;
dataMutex_.lock();
if(buffer_.size())
if(data_.size())
{
data = buffer_.back();
buffer_.clear();
data = data_.back();
data_.clear();
quality = dataQuality_;
dataQuality_ = 0;
}
dataMutex_.unlock();
@@ -96,7 +100,14 @@ void OdometryViewer::processData()
this->updateCameraPosition(data.pose());
this->setBackgroundColor(Qt::black);
if(qualityWarningThr_ && quality && quality < qualityWarningThr_)
{
this->setBackgroundColor(Qt::darkYellow);
}
else
{
this->setBackgroundColor(Qt::black);
}
this->render();
}
@@ -114,15 +125,16 @@ void OdometryViewer::handleEvent(UEvent * event)
{
bool empty = false;
dataMutex_.lock();
if(buffer_.empty())
if(data_.empty())
{
buffer_.push_back(odomEvent->data());
data_.push_back(odomEvent->data());
empty= true;
}
else
{
buffer_.back() = odomEvent->data();
data_.back() = odomEvent->data();
}
dataQuality_ = odomEvent->quality();
dataMutex_.unlock();
if(empty)
{