i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

Working MSCKF

Browse Source
This commit is contained in:
matlabbe
2018-07-18 16:15:41 -04:00
parent 15e09cd0a8
commit 9ae47b79f9
16 changed files with 1077 additions and 847 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
guilib/src/OdometryViewer.cpp
View File

@@ -79,6 +79,7 @@ OdometryViewer::OdometryViewer(
cloudView_->setCameraTargetLocked();
cloudView_->setGridShown(true);
cloudView_->setFrustumShown(true);
QLabel * maxCloudsLabel = new QLabel("Max clouds", this);
QLabel * voxelLabel = new QLabel("Voxel", this);
@@ -297,6 +298,15 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
{
lastOdomPose_ = odom.pose();
cloudView_->updateCameraTargetPosition(odom.pose());
if(odom.data().cameraModels().size() && !odom.data().cameraModels()[0].localTransform().isNull())
{
cloudView_->updateCameraFrustums(odom.pose(), odom.data().cameraModels());
}
else if(!odom.data().stereoCameraModel().localTransform().isNull())
{
cloudView_->updateCameraFrustum(odom.pose(), odom.data().stereoCameraModel());
}
}
if(scanShown_->isChecked())
@@ -391,7 +401,8 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
}
else if(odom.info().type == (int)Odometry::kTypeF2F ||
odom.info().type == (int)Odometry::kTypeViso2 ||
odom.info().type == (int)Odometry::kTypeFovis)
odom.info().type == (int)Odometry::kTypeFovis ||
odom.info().type == (int)Odometry::kTypeMSCKF)
{
std::vector<cv::KeyPoint> kpts;
cv::KeyPoint::convert(odom.info().newCorners, kpts, 7);