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rtabmap:

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-Fixed map id not incremented on Odometry reset (identity transform was missed)
-Keeping maximum odometry variance between two loop closure updates
Odometry:
-removed parameters Odom/FeaturesRatio, Odom/LinearUpdate, Odom/AngularUpdate
-added parameter Odom/FillInfoData
-expended OdometryInfo class with features stuff
Gui:
-show inliers/outliers features in Odometry view
This commit is contained in:
Mathieu Labbe
2014-12-18 16:54:46 -05:00
parent 744e2fb3c7
commit 86a6fe202c
17 changed files with 325 additions and 382 deletions
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3
guilib/include/rtabmap/gui/ImageView.h
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@@ -63,7 +63,8 @@ public:
void setImageDepthShown(bool shown);
void setLinesShown(bool shown);
void setFeatures(const std::multimap<int, cv::KeyPoint> & refWords);
void setFeatures(const std::multimap<int, cv::KeyPoint> & refWords, const QColor & color = QColor(255, 255, 0, 70));
void setFeatures(const std::vector<cv::KeyPoint> & features, const QColor & color = QColor(255, 255, 0, 70));
void setImage(const QImage & image);
void setImageDepth(const QImage & image);
void setFeatureColor(int id, const QColor & color);

2
guilib/include/rtabmap/gui/KeypointItem.h
View File

@@ -43,6 +43,8 @@ public:
KeypointItem(qreal x, qreal y, int r, const QString & info, const QColor & color = Qt::green, QGraphicsItem * parent = 0);
virtual ~KeypointItem();
void setColor(const QColor & color);
protected:
virtual void hoverEnterEvent ( QGraphicsSceneHoverEvent * event );
virtual void hoverLeaveEvent ( QGraphicsSceneHoverEvent * event );