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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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4
guilib/src/PreferencesDialog.cpp
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@@ -482,17 +482,15 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
//Odometry
_ui->odom_strategy->setObjectName(Parameters::kOdomStrategy().c_str());
_ui->odom_type->setObjectName(Parameters::kOdomFeatureType().c_str());
_ui->odom_linearUpdate->setObjectName(Parameters::kOdomLinearUpdate().c_str());
_ui->odom_angularUpdate->setObjectName(Parameters::kOdomAngularUpdate().c_str());
_ui->odom_countdown->setObjectName(Parameters::kOdomResetCountdown().c_str());
_ui->odom_maxFeatures->setObjectName(Parameters::kOdomMaxFeatures().c_str());
_ui->odom_ratio->setObjectName(Parameters::kOdomFeaturesRatio().c_str());
_ui->odom_inlierDistance->setObjectName(Parameters::kOdomInlierDistance().c_str());
_ui->odom_iterations->setObjectName(Parameters::kOdomIterations().c_str());
_ui->odom_maxDepth->setObjectName(Parameters::kOdomMaxDepth().c_str());
_ui->odom_minInliers->setObjectName(Parameters::kOdomMinInliers().c_str());
_ui->odom_refine_iterations->setObjectName(Parameters::kOdomRefineIterations().c_str());
_ui->odom_force2D->setObjectName(Parameters::kOdomForce2D().c_str());
_ui->odom_fillInfoData->setObjectName(Parameters::kOdomFillInfoData().c_str());
_ui->lineEdit_odom_roi->setObjectName(Parameters::kOdomRoiRatios().c_str());
//Odometry BOW