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Local scan matching: set larger scan points for max scan points when it is not set. Fixed missing scan Ids in links' user data to correctly visualize proximity links by space in DatabaseViewer. CloudViewer: using line instead of arrow between the referential and the frustum. removed parameter "RGBD/ProximityPathScansMerged" as visual proximity by space already does that.

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matlabbe
2016-05-20 11:44:50 -04:00
parent b29ce28877
commit 9f6af75f79
11 changed files with 109 additions and 108 deletions
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1
corelib/include/rtabmap/core/Parameters.h
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@@ -323,7 +323,6 @@ class RTABMAP_EXP Parameters
// Local/Proximity loop closure detection
RTABMAP_PARAM(RGBD, ProximityByTime, bool, false, "Detection over all locations in STM.");
RTABMAP_PARAM(RGBD, ProximityBySpace, bool, true, "Detection over locations (in Working Memory or STM) near in space.");
RTABMAP_PARAM(RGBD, ProximityPathScansMerged, bool, true, "Merge close laser scans on each path. If false, only the nearest laser scan on the path is used for ICP.");
RTABMAP_PARAM(RGBD, ProximityMaxGraphDepth, int, 50, "Maximum depth from the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore.");
RTABMAP_PARAM(RGBD, ProximityPathFilteringRadius, float, 0.5, "Path filtering radius.");
RTABMAP_PARAM(RGBD, ProximityPathRawPosesUsed, bool, true, "When comparing to a local path, merge the scan using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph.");

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corelib/include/rtabmap/core/Rtabmap.h
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@@ -196,7 +196,6 @@ private:
int _proximityMaxGraphDepth;
float _proximityFilteringRadius;
bool _proximityRawPosesUsed;
bool _proximityScansMerged;
float _proximityAngle;
std::string _databasePath;
bool _optimizeFromGraphEnd;