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Updated rehearsal behavior when there are intermediate nodes and RGBD/LinearUpdate,RGBD/AngularUpdate are set.

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matlabbe
2015-08-28 23:05:45 -04:00
parent ce2bbd8feb
commit a2b9c9f9a0
8 changed files with 168 additions and 131 deletions
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guilib/include/rtabmap/gui/PreferencesDialog.h
+1
View File
@@ -205,6 +205,7 @@ public:
bool isStatisticsPublished() const;
double getLoopThr() const;
double getVpThr() const;
double getSimThr() const;
int getOdomStrategy() const;
int getOdomBufferSize() const;
QString getCameraInfoDir() const; // "workinfDir/camera_info"
guilib/src/MainWindow.cpp
+8 -3
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@@ -1075,23 +1075,28 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->label_matchId->clear();
}
int rehearsed = (int)uValue(stat.data(), Statistics::kMemoryRehearsal_merged(), 0.0f);
int rehearsalMerged = (int)uValue(stat.data(), Statistics::kMemoryRehearsal_merged(), 0.0f);
bool rehearsedSimilarity = (float)uValue(stat.data(), Statistics::kMemoryRehearsal_id(), 0.0f) != 0.0f;
int localTimeClosures = (int)uValue(stat.data(), Statistics::kLocalLoopTime_closures(), 0.0f);
bool scanMatchingSuccess = (bool)uValue(stat.data(), Statistics::kOdomCorrectionAccepted(), 0.0f);
_ui->label_stats_imageNumber->setText(QString("%1 [%2]").arg(stat.refImageId()).arg(refMapId));
if(rehearsed > 0)
if(rehearsalMerged > 0)
{
_ui->imageView_source->setBackgroundColor(Qt::blue);
}
else if(localTimeClosures > 0)
{
_ui->imageView_source->setBackgroundColor(Qt::darkCyan);
_ui->imageView_source->setBackgroundColor(Qt::darkYellow);
}
else if(scanMatchingSuccess)
{
_ui->imageView_source->setBackgroundColor(Qt::gray);
}
else if(rehearsedSimilarity)
{
_ui->imageView_source->setBackgroundColor(Qt::darkBlue);
}
UDEBUG("time= %d ms", time.restart());
guilib/src/PreferencesDialog.cpp
+4
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@@ -3670,6 +3670,10 @@ double PreferencesDialog::getVpThr() const
{
return _ui->general_doubleSpinBox_vp->value();
}
double PreferencesDialog::getSimThr() const
{
return _ui->doubleSpinBox_similarityThreshold->value();
}
int PreferencesDialog::getOdomStrategy() const
{
return _ui->odom_strategy->currentIndex();