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Loop closure view: Added legend "gray" color for features not quantized in vocabulary (-1)

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matlabbe
2017-02-23 11:49:33 -05:00
parent 8de6cb1ca0
commit 526fdb495b
1 changed files with 16 additions and 4 deletions
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guilib/src/MainWindow.cpp
+16 -4
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@@ -1491,7 +1491,8 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
" Yellow = New but Not Unique\n" " Yellow = New but Not Unique\n"
" Red = In Vocabulary\n" " Red = In Vocabulary\n"
" Blue = In Vocabulary and in Previous Signature\n" " Blue = In Vocabulary and in Previous Signature\n"
" Pink = In Vocabulary and in Loop Closure Signature"); " Pink = In Vocabulary and in Loop Closure Signature\n"
" Gray = Not Quantized to Vocabulary");
} }
// Set color code as tooltip // Set color code as tooltip
if(_ui->label_matchId->toolTip().isEmpty()) if(_ui->label_matchId->toolTip().isEmpty())
@@ -1503,7 +1504,8 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
" Yellow = Proximity Detection in Space\n" " Yellow = Proximity Detection in Space\n"
"Feature Color code:\n" "Feature Color code:\n"
" Red = In Vocabulary\n" " Red = In Vocabulary\n"
" Pink = In Vocabulary and in Loop Closure Signature"); " Pink = In Vocabulary and in Loop Closure Signature\n"
" Gray = Not Quantized to Vocabulary");
} }
UDEBUG("time= %d ms", time.restart()); UDEBUG("time= %d ms", time.restart());
@@ -3632,7 +3634,12 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
{ {
int id = iter->first; int id = iter->first;
QColor color; QColor color;
if(uContains(loopWords, id)) if(id<0)
{
// GRAY = NOT QUANTIZED
color = Qt::gray;
}
else if(uContains(loopWords, id))
{ {
// PINK = FOUND IN LOOP SIGNATURE // PINK = FOUND IN LOOP SIGNATURE
color = Qt::magenta; color = Qt::magenta;
@@ -3672,7 +3679,12 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
{ {
int id = iter->first; int id = iter->first;
QColor color; QColor color;
if(uContains(refWords, id)) if(id<0)
{
// GRAY = NOT QUANTIZED
color = Qt::gray;
}
else if(uContains(refWords, id))
{ {
// PINK = FOUND IN LOOP SIGNATURE // PINK = FOUND IN LOOP SIGNATURE
color = Qt::magenta; color = Qt::magenta;