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Update 0.15.4.

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Parameters:
-Added "GridGlobal/MaxNodes=0", "Rtabmap/PublishRAMUsage=false", "Mem/DepthAsMask=true", "Kp/FlannRebalancingFactor=2.0", "Vis/DepthAsMask=true".
-Modified "Kp/DetectorStrategy=6", "Kp/MaxFeatures=500",  "Mem/UseOdomFeatures=true", "GFTT/QualityLevel=0.001", "GFTT/MinDistance=3", "RGBD/OptimizeMaxError=1", "RGBD/ProximityPathFilteringRadius=1", "Odom/GuessMotion=true", "Odom/VisKeyFrameThr=150", "OdomF2M/BundleAdjustment=1", "Vis/Iterations=300" if built with g2o, "OdomF2M/BundleAdjustmentMaxFrames=10", "OdomFovis/MinFeaturesForEstimate=20", "OdomORBSLAM2/MapSize=3000", "Reg/RepeatOnce=true", "Vis/PnPRefineIterations=0" if built with g2o, "Vis/CorGuessMatchToProjection=true", "Vis/BundleAdjustment=1" if built with g2o, "Icp/MaxCorrespondenceDistance=0.1", "Icp/PointToPlaneK=5", "Icp/PointToPlaneRadius=1", "Icp/PM=true" if built with libpointmatcher, "Stereo/MaxLevel=5", "Stereo/MinDisparity=0.5".

BayesFilter: optimized prediction matrix update. Use of new argument "ignoreLocalSpaceLoopIds" of Memory::getNeighborsId() to ignore loop closure link by space in prediction update.
CameraThread: Added stereo exposure compensation option.
CameraRGB: Added forceGroundNormalsUp option and added support of ground truth from EuRoC dataset.
Statistics: Added "Memory/RAM_usage/MB".
Transform: Added clone() method to do deep copy.
Graph::importPoses(): EuRoC format support (9).
Rtabmap: Local visual loop closures are now identified as GlobalClosure link type.
OccupancyGrid/OctoMap: updated how cache is used (old node retrieved can be re-added to map without re-assembling the whole map).
OdometryF2F: when using ICP, increasing correspondence distance for first two frames. If Vis/CorType=1 and registration fails, second guess without motion is done with Vis/CorType=0.
OdometryF2M/RegVis: updated how features are removed from the map, using new projectedIDs filled in RegistrationInfo by RegistrationVis.
OdometryORBSLAM2: Maximum size of the feature map can be set with "OdomORBSLAM2/MapSize" parameter.
CloudViewer: fixed opengl camera drifting in follow mode.
DatabaseViewer: Added optimization scale option. ConstraintsView: hide loop closure links if type is ignored in gui parameters.
MainWindow: Support of "GridGlobal/MaxNodes" parameters when updating the maps.
UPlot: don't show ellipses when not in graphics view mode, updated how "random" colors are attributed to curves
Added rtabmap-euroc_dataset tool. Updated rtabmap-kitti_dataset and rtabmap-rgbd_dataset tools.
Added rtabmap-reprocess tool.
This commit is contained in:
matlabbe
2018-02-01 22:17:46 -05:00
parent 9f80f4ac42
commit 977d21eed5
76 changed files with 3844 additions and 1307 deletions
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28
guilib/src/utilite/UPlot.cpp
View File

@@ -823,13 +823,13 @@ void UPlotCurve::draw(QPainter * painter, const QRect & limits)
}
}
if(limits.contains(item->pos().toPoint()) && limits.contains((item->pos() + QPointF(item->rect().width(), item->rect().height())).toPoint()))
/*if(limits.contains(item->pos().toPoint()) && limits.contains((item->pos() + QPointF(item->rect().width(), item->rect().height())).toPoint()))
{
painter->save();
painter->setPen(QPen(_itemsColor));
painter->drawEllipse(item->pos()+QPointF(item->rect().width()/2, item->rect().height()/2), (int)item->rect().width()/2, (int)item->rect().height()/2);
painter->restore();
}
}*/
}
}
}
@@ -1833,7 +1833,7 @@ UPlot::UPlot(QWidget *parent) :
_lowestRefreshRate = 99;
_refreshStartTime.start();
_penStyleCount = rand() % 10 + 1; // rand 1->10
_penStyleCount = 0;
_workingDirectory = QDir::homePath();
}
@@ -2081,6 +2081,28 @@ bool UPlot::contains(const QString & curveName)
QPen UPlot::getRandomPenColored()
{
int penStyle = 0;
bool colorNotUsed = false;
for(int i=0; i<12; ++i)
{
QColor tmp((Qt::GlobalColor)((penStyle+i) % 12 + 7 ));
bool colorAlreadyUsed = false;
for(QList<UPlotCurve*>::const_iterator iter = _curves.constBegin(); iter!=_curves.constEnd() && !colorAlreadyUsed; ++iter)
{
colorAlreadyUsed = (*iter)->pen().color() == tmp;
}
if(!colorAlreadyUsed)
{
colorNotUsed = true;
penStyle+=i;
break;
}
}
if(colorNotUsed)
{
_penStyleCount = penStyle;
}
return QPen((Qt::GlobalColor)(_penStyleCount++ % 12 + 7 ));
}