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Added Depth information to ImageView's keypoint items

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Mathieu Labbe
2015-05-05 11:39:30 -04:00
parent 0b5d6c84b1
commit b2bfa91153
10 changed files with 76 additions and 36 deletions
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guilib/src/DatabaseViewer.cpp
+3 -3
View File
@@ -1446,7 +1446,7 @@ void DatabaseViewer::update(int value,
if(data.getWords().size())
{
view->setFeatures(data.getWords());
view->setFeatures(data.getWords(), data.getDepthRaw().type() == CV_8UC1?cv::Mat():data.getDepthRaw(), Qt::yellow);
}
Transform odomPose;
@@ -2934,8 +2934,8 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool updateGra
if(!silent)
{
ui_->graphicsView_A->setFeatures(tmpMemory.getSignature(from)->getWords());
ui_->graphicsView_B->setFeatures(tmpMemory.getSignature(to)->getWords());
ui_->graphicsView_A->setFeatures(tmpMemory.getSignature(from)->getWords(), dataFrom.depth());
ui_->graphicsView_B->setFeatures(tmpMemory.getSignature(to)->getWords(), dataTo.depth());
updateWordsMatching();
}
}