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Binary descriptors (ORB, BRIEF, FREAK) can now be used for the visual dictionnary: maybe not as discriminative as SIFT/SURF on large environments, the advantage is that RTAB-Map will work without Patent/noncommercial licenses of SIFT and SURF.

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A new option is added to re-extract features when a loop closure hypothesis is found. 
Another new option is to force 2D (3DoF) transform on visual odometry and loop closures.

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1679 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-09-21 16:51:51 +00:00
parent 02850ec756
commit a98f819821
10 changed files with 463 additions and 34 deletions
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guilib/src/MainWindow.cpp
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@@ -3153,7 +3153,6 @@ void MainWindow::viewClouds()
{
QWidget * window = new QWidget(this, Qt::Window);
window->setAttribute(Qt::WA_DeleteOnClose);
window->setWindowFlags(Qt::Dialog);
if(meshes.size())
{
window->setWindowTitle(tr("Meshes (%1 nodes)").arg(meshes.size()));