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Added PnP Pose estimation based Odometry option. Added sensor icons in menu.

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This commit is contained in:
Mathieu Labbe
2015-03-31 15:45:38 -04:00
parent 7e216bf842
commit 6089a44589
19 changed files with 1088 additions and 453 deletions
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tools/OdometryViewer/main.cpp
+7 -1
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@@ -37,6 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/VWDictionary.h>
#include <QApplication>
#include <pcl/console/print.h>
#include "OdomInfoWidget.h"
void showUsage()
{
@@ -679,17 +680,22 @@ int main (int argc, char * argv[])
}
rtabmap::OdometryThread odomThread(odom);
rtabmap::OdometryViewer odomViewer(maxClouds, 2, 0.0, 50);
OdomInfoWidget odomInfoWidget;
UEventsManager::addHandler(&odomThread);
UEventsManager::addHandler(&odomViewer);
UEventsManager::addHandler(&odomInfoWidget);
odomViewer.setCameraFree();
odomViewer.setGridShown(true);
odomViewer.setWindowTitle("Odometry viewer");
odomViewer.setWindowTitle("Odometry 3D view");
odomViewer.setMinimumWidth(800);
odomViewer.setMinimumHeight(500);
odomViewer.showNormal();
odomInfoWidget.setWindowTitle("Odometry info");
odomInfoWidget.showNormal();
app.processEvents();
if(inputDatabase.size())