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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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10
guilib/src/PreferencesDialog.cpp
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@@ -394,6 +394,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->odom_iterations->setObjectName(Parameters::kOdomIterations().c_str());
_ui->odom_maxDepth->setObjectName(Parameters::kOdomMaxDepth().c_str());
_ui->odom_minInliers->setObjectName(Parameters::kOdomMinInliers().c_str());
_ui->odom_ratio->setObjectName(Parameters::kOdomWordsRatio().c_str());
_ui->stackedWidget_odom->setCurrentIndex(_ui->odom_type->currentIndex());
connect(_ui->odom_type, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_odom, SLOT(setCurrentIndex(int)));
@@ -705,6 +706,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_imageRejectedShown->setChecked(true);
_ui->checkBox_imageHighestHypShown->setChecked(false);
_ui->horizontalSlider_keypointsOpacity->setSliderPosition(20);
_ui->spinBox_odomQualityWarnThr->setValue(50);
}
else if(groupBox->objectName() == _ui->groupBox_cloudRendering1->objectName())
{
@@ -718,7 +720,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
if(i<2)
{
_3dRenderingOpacity[i]->setValue(i==0?0.6:1.0);
_3dRenderingOpacity[i]->setValue(1.0);
_3dRenderingPtSize[i]->setValue(i==0?1:2);
_3dRenderingOpacityScan[i]->setValue(1.0);
_3dRenderingPtSizeScan[i]->setValue(1);
@@ -2330,6 +2332,10 @@ int PreferencesDialog::getKeypointsOpacity() const
{
return _ui->horizontalSlider_keypointsOpacity->value();
}
int PreferencesDialog::getOdomQualityWarnThr() const
{
return _ui->spinBox_odomQualityWarnThr->value();
}
bool PreferencesDialog::isCloudsShown(int index) const
{
@@ -2767,7 +2773,7 @@ void PreferencesDialog::testOdometry(OdomType type)
window->setMinimumHeight(600);
connect( window, SIGNAL(destroyed(QObject*)), this, SLOT(cleanOdometryTest()) );
OdometryViewer * odomViewer = new OdometryViewer(10, 2, 0.0, window);
OdometryViewer * odomViewer = new OdometryViewer(10, 2, 0.0, this->getOdomQualityWarnThr(), window);
QVBoxLayout *layout = new QVBoxLayout();
layout->addWidget(odomViewer);