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Added Features2d::limitKeypoints() with grid options. Odometry: if imu is provided and no guess is provided, the change of orientation of imu is used for rotation guess (overwrite rotation from Odom/GuessFromMotion). OdometryInfo: added gravity errors when imu is used. Preferences: added a second GravitySigma parameter (overwritting Optimizer/GravitySigma for odometry is not negative) for F2M odometry panel.

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matlabbe
2020-05-31 11:22:12 -04:00
parent 6e55525a7b
commit 415a2778f1
15 changed files with 186 additions and 25 deletions
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guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -161,6 +161,7 @@ public:
bool isWordsCountGraphView() const;
bool isLocalizationsCountGraphView() const;
int getOdomRegistrationApproach() const;
double getOdomF2MGravitySigma() const;
bool isOdomDisabled() const;
bool isGroundTruthAligned() const;