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GUI: Added Multi-Session Localization view. CameraModel: set localTransform to optical rotation in default constructor (fixed matrix invertion errors with code ignoring setting local transform), save/read local transform in/from camera calibration yaml file (so that local transform is also exported when extracting rgb/depth images). Rtabmap: in localization mode, ignore landmarks farther than RGBD/LocalRadius if no global loop closures are already in odometry cache.

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matlabbe
2022-02-12 13:35:23 -05:00
parent f584f42ea4
commit 191e165a28
13 changed files with 612 additions and 24 deletions
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guilib/src/ui/multiSessionLocSubView.ui
+67
View File
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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>multiSessionLocSubView</class>
<widget class="QWidget" name="multiSessionLocSubView">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>192</width>
<height>296</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout" stretch="0,1,0">
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
<widget class="QLabel" name="label">
<property name="text">
<string>Map 0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="rtabmap::ImageView" name="imageView" native="true"/>
</item>
<item>
<widget class="QProgressBar" name="locProgressBar">
<property name="value">
<number>24</number>
</property>
<property name="textVisible">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
<customwidgets>
<customwidget>
<class>rtabmap::ImageView</class>
<extends>QWidget</extends>
<header>rtabmap/gui/ImageView.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources/>
<connections/>
</ui>