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Supporting GTSAM bearing/range factors for landmarks (#1346)

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* Supporting GTSAM bearing/range factors for landmarks

* refreshing initial covariance after being modified in same sessions
This commit is contained in:
matlabbe
2024-09-21 18:14:52 -07:00
committed by GitHub
parent 0e85bd849c
commit 379e11bd66
6 changed files with 528 additions and 324 deletions
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8
guilib/include/rtabmap/gui/EditConstraintDialog.h
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@@ -42,12 +42,14 @@ class RTABMAP_GUI_EXPORT EditConstraintDialog : public QDialog
Q_OBJECT
public:
EditConstraintDialog(const Transform & constraint, double linearSigma = 1, double angularSigma = 1, QWidget * parent = 0);
EditConstraintDialog(const Transform & constraint, const cv::Mat & covariance = cv::Mat::eye(6,6,CV_64FC1), QWidget * parent = 0);
void setPoseGroupVisible(bool visible);
void setCovarianceGroupVisible(bool visible);
virtual ~EditConstraintDialog();
Transform getTransform() const;
double getLinearVariance() const;
double getAngularVariance() const;
cv::Mat getCovariance() const;
private Q_SLOTS:
void switchUnits();