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Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map

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Added Feature2D::parseParameters()
 

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1632 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-08-11 15:23:06 +00:00
parent 52af62394e
commit df76e3cd29
13 changed files with 1961 additions and 378 deletions
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guilib/src/ImageView.cpp
+47 -13
View File
@@ -87,9 +87,9 @@ bool ImageView::isFeaturesShown()
void ImageView::setFeaturesShown(bool shown)
{
_showFeatures->setChecked(shown);
for(int i=0; i<_features.size(); ++i)
for(QMultiMap<int, KeypointItem*>::iterator iter=_features.begin(); iter!=_features.end(); ++iter)
{
_features[i]->setVisible(_showFeatures->isChecked());
iter.value()->setVisible(_showFeatures->isChecked());
}
}
@@ -236,11 +236,7 @@ void ImageView::wheelEvent(QWheelEvent * e)
void ImageView::setFeatures(const std::multimap<int, cv::KeyPoint> & refWords)
{
for(int i=0; i<_features.size(); ++i)
{
scene()->removeItem(_features[i]);
delete _features[i];
}
qDeleteAll(_features);
_features.clear();
rtabmap::KeypointItem * item = 0;
@@ -261,7 +257,7 @@ void ImageView::setFeatures(const std::multimap<int, cv::KeyPoint> & refWords)
item = new rtabmap::KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(255, 255, 0, alpha));
scene()->addItem(item);
_features.append(item);
_features.insert(id, item);
item->setVisible(_showFeatures->isChecked());
item->setZValue(1);
}
@@ -297,13 +293,51 @@ void ImageView::setImageDepth(const QImage & imageDepth)
}
}
void ImageView::setFeatureColor(int id, const QColor & color)
{
QList<KeypointItem*> items = _features.values(id);
if(items.size())
{
for(int i=0; i<items.size(); ++i)
{
items[i]->setPen(QPen(color));
items[i]->setBrush(QBrush(color));
}
}
else
{
UWARN("Not found feature %d", id);
}
}
void ImageView::setFeaturesColor(const QColor & color)
{
for(QMultiMap<int, KeypointItem*>::iterator iter=_features.begin(); iter!=_features.end(); ++iter)
{
iter.value()->setPen(QPen(color));
iter.value()->setBrush(QBrush(color));
}
}
void ImageView::clearLines()
{
if(this->scene())
{
QList<QGraphicsItem*> items = this->scene()->items();
for(int i=0; i<items.size(); ++i)
{
QGraphicsLineItem * line = qgraphicsitem_cast<QGraphicsLineItem*>(items[i]);
if(line)
{
delete line;
}
}
}
}
void ImageView::clear()
{
for(int i=0; i<_features.size(); ++i)
{
scene()->removeItem(_features[i]);
delete _features[i];
}
qDeleteAll(_features);
_features.clear();
if(_image)