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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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9
guilib/src/ParametersToolBox.h
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@@ -33,15 +33,16 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#define PARAMETERSTOOLBOX_H_
#include <rtabmap/core/Parameters.h>
#include <QToolBox>
#include <QWidget>
#include <QSet>
class QVBoxLayout;
class QAbstractButton;
class QStackedWidget;
class QComboBox;
namespace rtabmap {
class ParametersToolBox: public QToolBox
class ParametersToolBox: public QWidget
{
Q_OBJECT
@@ -77,6 +78,8 @@ private:
void updateParametersVisibility();
private:
QComboBox * comboBox_;
QStackedWidget * stackedWidget_;
ParametersMap parameters_;
QSet<QString> ignoredGroups_;
};