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Integration of viso2 odometry approach.

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This commit is contained in:
matlabbe
2017-05-30 14:03:46 -04:00
parent 4ffbc0fb58
commit f6e21bd6c8
13 changed files with 406 additions and 14 deletions
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18
guilib/src/MainWindow.cpp
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@@ -1188,7 +1188,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
{
if(_ui->imageView_odometry->isFeaturesShown())
{
if(odom.info().type == 0)
if(odom.info().type == (int)Odometry::kTypeF2M)
{
if(_preferencesDialog->isOdomOnlyInliersShown())
{
@@ -1210,10 +1210,10 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
Qt::yellow);
}
}
else if(odom.info().type == 1)
else if(odom.info().type == (int)Odometry::kTypeF2F || odom.info().type == (int)Odometry::kTypeViso2)
{
std::vector<cv::KeyPoint> kpts;
cv::KeyPoint::convert(odom.info().refCorners, kpts);
cv::KeyPoint::convert(odom.info().refCorners, kpts, 7);
_ui->imageView_odometry->setFeatures(
kpts,
odom.data().depthRaw(),
@@ -1223,10 +1223,10 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
//detect if it is OdometryMono intitialization
bool monoInitialization = false;
if(_preferencesDialog->getOdomStrategy() == 2 && odom.info().type == 1)
{
monoInitialization = true;
}
//if(_preferencesDialog->getOdomStrategy() == ?? && odom.info().type == (int)Odometry::kTypeF2F)
//{
// monoInitialization = true;
//}
_ui->imageView_odometry->clearLines();
if(lost && !monoInitialization)
@@ -1256,7 +1256,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
_ui->imageView_odometry->setImageDepth(uCvMat2QImage(odom.data().depthOrRightRaw()));
}
if(odom.info().type == 0)
if(odom.info().type == (int)Odometry::kTypeF2M)
{
if(_ui->imageView_odometry->isFeaturesShown() && !_preferencesDialog->isOdomOnlyInliersShown())
{
@@ -1270,7 +1270,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
}
}
}
if(odom.info().type == 1 && odom.info().refCorners.size())
if((odom.info().type == (int)Odometry::kTypeF2F || odom.info().type == (int)Odometry::kTypeViso2) && odom.info().refCorners.size())
{
if(_ui->imageView_odometry->isFeaturesShown() || _ui->imageView_odometry->isLinesShown())
{