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Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.

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Added Feature2D::generateKeypoints3D() for convenience.
Added parameter "Vis/PnPOpenCV2".
Added parameter "Vis/ForwardEstOnly".
Removed OdometryOpticalFlow class, replaced by OdometryF2F (frame-to-frame). To get the same previous OpticalFLow approach, parameter "Vis/CorType" should be set to 1.
Some parameters under group "OdomFlow/..." are now under "Vis/CorFlow...".
In Registration class, add computeTransformationMod() method to modify input signatures.
Added constructor Signature(SensorData) for convenience.
Modified words multimap used with cv::Point3f instead of pcl::PointXYZ to limit the use of PCL headers where they are not really required.
Added Stereo::create() for convenience.
Transform: fixed quaternion constructor where data_ was not initialized. Added parentheses operator for convenience.
DatabaseViewer: loading .rtabmap/rtabmap.ini instead of .rtabmap/dbViewer.ini when used from rtabmap application. Added vertical layout option for convenience.
MainWindow: fixed wrong Odometry speed values
ParametersToolBox: using QStackedWidget instead of a QToolBox for space, added "Restore Defaults" button.
This commit is contained in:
matlabbe
2015-12-21 17:27:05 -05:00
parent 3292fb1146
commit 2e9634cf65
54 changed files with 2838 additions and 2725 deletions
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4
guilib/include/rtabmap/gui/DatabaseViewer.h
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@@ -60,7 +60,7 @@ class RTABMAPGUI_EXP DatabaseViewer : public QMainWindow
Q_OBJECT
public:
DatabaseViewer(QWidget * parent = 0);
DatabaseViewer(const QString & ini = QString(), QWidget * parent = 0);
virtual ~DatabaseViewer();
bool openDatabase(const QString & path);
bool isSavedMaximized() const {return savedMaximized_;}
@@ -111,6 +111,7 @@ private slots:
void updateLoggerLevel();
void updateStereo();
void notifyParametersChanged(const QStringList &);
void setupMainLayout(int vertical);
private:
QString getIniFilePath() const;
@@ -173,6 +174,7 @@ private:
bool savedMaximized_;
bool firstCall_;
QString iniFilePath_;
};
}