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Merged pcl_integration branch to trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-12-11 00:12:44 +00:00
parent 97c70d394e
commit 8b8511e154
124 changed files with 21692 additions and 4458 deletions
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tools/EpipolarGeometry/CMakeLists.txt
+1 -1
View File
@@ -22,7 +22,7 @@ SET(LIBRARIES
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
ADD_EXECUTABLE(epipolar_geometry WIN32 ${SRC_FILES})
TARGET_LINK_LIBRARIES(epipolar_geometry rtabmap_corelib rtabmap_guilib rtabmap_utilite ${LIBRARIES})
TARGET_LINK_LIBRARIES(epipolar_geometry rtabmap_core rtabmap_gui rtabmap_utilite ${LIBRARIES})
SET_TARGET_PROPERTIES( epipolar_geometry
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-epipolar_geometry)
tools/EpipolarGeometry/main.cpp
+17 -5
View File
@@ -13,15 +13,17 @@
#include "rtabmap/core/Features2d.h"
#include "rtabmap/core/EpipolarGeometry.h"
#include "rtabmap/core/VWDictionary.h"
#include "rtabmap/gui/UCv2Qt.h"
#include "rtabmap/gui/ImageView.h"
#include "rtabmap/gui/qtipl.h"
#include "rtabmap/gui/KeypointItem.h"
#include <QtGui/QApplication>
#include <QtGui/QGraphicsLineItem>
#include <QtGui/QGraphicsPixmapItem>
#include <QtGui/QVBoxLayout>
#include <QtGui/QHBoxLayout>
#include <QtCore/QTime>
#include <QtGui/QGraphicsEffect>
using namespace rtabmap;
@@ -47,13 +49,23 @@ public:
this->layout()->setSpacing(0);
this->layout()->setContentsMargins(0,0,0,0);
this->layout()->addWidget(view1_);
IplImage img1 = image1;
IplImage img2 = image2;
view1_->setSceneRect(0,0,(float)image1.cols, (float)image1.rows);
view1_->setLinesShown(true);
view1_->setFeaturesShown(false);
view1_->scene()->addPixmap(QPixmap::fromImage(Ipl2QImage(&img1,128)))->setVisible(view1_->isImageShown());
view1_->scene()->addPixmap(QPixmap::fromImage(Ipl2QImage(&img2,128)))->setVisible(view1_->isImageShown());
QGraphicsPixmapItem * item1 = view1_->scene()->addPixmap(QPixmap::fromImage(uCvMat2QImage(image1)));
QGraphicsPixmapItem * item2 = view1_->scene()->addPixmap(QPixmap::fromImage(uCvMat2QImage(image2)));
QGraphicsOpacityEffect * effect1 = new QGraphicsOpacityEffect();
QGraphicsOpacityEffect * effect2 = new QGraphicsOpacityEffect();
effect1->setOpacity(0.5);
effect2->setOpacity(0.5);
item1->setGraphicsEffect(effect1);
item2->setGraphicsEffect(effect2);
item1->setVisible(view1_->isImageShown());
item2->setVisible(view1_->isImageShown());
drawKeypoints(words1, words2, status);
}
protected: