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Standalone version: -fixed ICP odometry selection, -install of rtabmap-databaseViewer

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1286 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-04-02 15:51:02 +00:00
parent d3b3c6ca3f
commit 8286919750
5 changed files with 47 additions and 27 deletions
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22
guilib/src/MainWindow.cpp
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@@ -1948,14 +1948,21 @@ void MainWindow::startDetection()
delete _odomThread;
}
Odometry * odom;
if(_preferencesDialog->isSourceOpenniOdometryBIN())
if(_preferencesDialog->getOdometryType() == PreferencesDialog::kOdomBIN)
{
UINFO("Using odometry FAST/BRIEF");
odom = new OdometryBinary(parameters);
}
else //BOW
else if(_preferencesDialog->getOdometryType() == PreferencesDialog::kOdomBOW)
{
UINFO("Using odometry SIFT/SURF");
odom = new OdometryBOW(parameters);
}
else
{
UINFO("Using odometry ICP");
odom = new OdometryICP(parameters);
}
_odomThread = new OdometryThread(odom);
UEventsManager::addHandler(_odomThread);
@@ -2005,14 +2012,21 @@ void MainWindow::startDetection()
delete _odomThread;
}
Odometry * odom;
if(_preferencesDialog->isSourceOpenniOdometryBIN())
if(_preferencesDialog->getOdometryType() == PreferencesDialog::kOdomBIN)
{
UINFO("Using odometry FAST/BRIEF");
odom = new OdometryBinary(parameters);
}
else //BOW
else if(_preferencesDialog->getOdometryType() == PreferencesDialog::kOdomBOW)
{
UINFO("Using odometry SIFT/SURF");
odom = new OdometryBOW(parameters);
}
else
{
UINFO("Using odometry ICP");
odom = new OdometryICP(parameters);
}
_odomThread = new OdometryThread(odom);
UEventsManager::addHandler(_odomThread);