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Removed parameter "LccIcp/HighTransitionalVariance" (Identity covariance is set directly on pose correction and local loop closure detection in space)

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Covariance of virtual links added on the path is set to Identity. For those added to keep the path linked to current map, their covariance is set to 100.
DatabaseViewer: set fixed colors on constraints view
This commit is contained in:
Mathieu Labbe
2015-02-25 17:06:52 -05:00
parent eb96fe1249
commit 1d39db2bcc
11 changed files with 174 additions and 109 deletions
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6
guilib/include/rtabmap/gui/CloudViewer.h
View File

@@ -70,12 +70,14 @@ public:
bool updateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const Transform & pose = Transform::getIdentity());
const Transform & pose = Transform::getIdentity(),
const QColor & color = Qt::gray);
bool updateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const Transform & pose = Transform::getIdentity());
const Transform & pose = Transform::getIdentity(),
const QColor & color = Qt::gray);
bool addOrUpdateCloud(
const std::string & id,

7
guilib/include/rtabmap/gui/DatabaseViewer.h
View File

@@ -108,10 +108,13 @@ private:
bool updateConstraintView = true);
void updateStereo(const Signature * data);
void updateWordsMatching();
void updateConstraintView(const rtabmap::Link & link,
void updateConstraintView(
const rtabmap::Link & link,
bool updateImageSliders = true,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloudFrom = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>),
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloudTo = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>),
bool updateImageSliders = true);
const pcl::PointCloud<pcl::PointXYZ>::Ptr & scanFrom = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>),
const pcl::PointCloud<pcl::PointXYZ>::Ptr & scanTo = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>));
void updateConstraintButtons();
Link findActiveLink(int from, int to);
bool containsLink(