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Updated how odometry guess is done (adapt to time between timestamps) and Kalman filtering (using velocity)

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matlabbe
2016-02-27 18:30:00 -05:00
parent a8d1b91083
commit 6d06b66496
16 changed files with 311 additions and 253 deletions
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guilib/src/MainWindow.cpp
+3 -1
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@@ -1789,7 +1789,9 @@ void MainWindow::updateMapCloud(
_ui->graphicsView_graphView->updateGTGraph(_currentGTPosesMap);
}
cv::Mat map8U;
if((_ui->graphicsView_graphView->isVisible() || _preferencesDialog->getGridMapShown()) && (_createdScans.size() || _preferencesDialog->isGridMapFrom3DCloud()))
if((_ui->graphicsView_graphView->isVisible() || _preferencesDialog->getGridMapShown()) &&
((_gridLocalMaps.size() && !_preferencesDialog->isGridMapFrom3DCloud()) ||
(_projectionLocalMaps.size() && _preferencesDialog->isGridMapFrom3DCloud())))
{
float xMin, yMin;
float resolution = _preferencesDialog->getGridMapResolution();