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0.15.1: CameraImages: added ground truth time diff, fixed memory leak when loading binary scans. CameraRGBDImages and CameraStereoImages: fixed start id. Feature2D: added grid rows and cols parameters (Kp/GridRows, Kp/GridCols, Vis/GridRows, Vis/GridCols). OdomInfo: publish bundle frames. OdometryORBSLAM2: added OdomORBSLAM2/Fps and OdomORBSLAM2/MaxFeatures parameters. Registration: added Reg/RepeatOnce parameter and removed variance normalization. For util2d::getDepth() and util3d::projectDepthTo3D(), maxZError parameter is now depthErrorRatio to be dependent of the sensor range. Database: save image width and height from stereo calibration. OptimizerG2O: fixed SBA optimization when using g2o built from ORBSLAM2 library. OptimizerGTSAM: to increase optimization stability, all rotations in information matrix are divided by 100000. Added rtabmap-report tool.

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matlabbe
2017-11-30 16:52:03 -05:00
parent 821c1c938e
commit 4452e637ad
46 changed files with 1892 additions and 802 deletions
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4
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -158,7 +158,6 @@ public:
bool isGroundTruthAligned() const;
bool isGraphsShown() const;
bool isFrustumsShown() const;
bool isLabelsShown() const;
double getVoxel() const;
double getNoiseRadius() const;
@@ -194,6 +193,7 @@ public:
int getScanPointSize(int index) const; // 0=map, 1=odom
bool isFeaturesShown(int index) const; // 0=map, 1=odom
bool isFrustumsShown(int index) const; // 0=map, 1=odom
int getFeaturesPointSize(int index) const; // 0=map, 1=odom
bool isCloudFiltering() const;
@@ -267,7 +267,6 @@ public:
double getSimThr() const;
int getOdomStrategy() const;
int getOdomBufferSize() const;
bool getRegVarianceFromInliersCount() const;
QString getCameraInfoDir() const; // "workinfDir/camera_info"
//
@@ -402,6 +401,7 @@ private:
QVector<QDoubleSpinBox*> _3dRenderingOpacityScan;
QVector<QSpinBox*> _3dRenderingPtSizeScan;
QVector<QCheckBox*> _3dRenderingShowFeatures;
QVector<QCheckBox*> _3dRenderingShowFrustums;
QVector<QSpinBox*> _3dRenderingPtSizeFeatures;
};