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ProximitySpace: extracting all paths inside local radius up to max graph depth, no length limit of the proximity space links. Fixed local scan matching assembling bug when laser local transform is set. DbViewer: we can now refine proximity detection by space (laser scan matching).

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matlabbe
2017-10-09 18:45:42 -04:00
parent 007d23308a
commit 400952b327
6 changed files with 337 additions and 167 deletions
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guilib/include/rtabmap/gui/DatabaseViewer.h
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@@ -185,7 +185,7 @@ private:
std::string databaseFileName_;
std::list<std::map<int, rtabmap::Transform> > graphes_;
std::multimap<int, rtabmap::Link> graphLinks_;
std::map<int, rtabmap::Transform> poses_;
std::map<int, rtabmap::Transform> odomPoses_;
std::map<int, rtabmap::Transform> groundTruthPoses_;
std::map<int, rtabmap::Transform> gpsPoses_;
std::map<int, GPS> gpsValues_;