i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 10:00:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed bug where very long paths (over maxGraphDepth) were used for scan matching. Added "RGBD/ProximityMaxPaths" parameter (default 3) to limit the number of path comparisons for proximity detection.

Browse Source
This commit is contained in:
matlabbe
2016-08-12 18:43:12 -04:00
parent a0d76eabe5
commit ae7436a41b
8 changed files with 132 additions and 136 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
guilib/src/PreferencesDialog.cpp
View File

@@ -721,6 +721,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->groupBox_localDetection_space->setObjectName(Parameters::kRGBDProximityBySpace().c_str());
_ui->localDetection_radius->setObjectName(Parameters::kRGBDLocalRadius().c_str());
_ui->localDetection_maxDiffID->setObjectName(Parameters::kRGBDProximityMaxGraphDepth().c_str());
_ui->localDetection_maxPaths->setObjectName(Parameters::kRGBDProximityMaxPaths().c_str());
_ui->localDetection_pathFilteringRadius->setObjectName(Parameters::kRGBDProximityPathFilteringRadius().c_str());
_ui->localDetection_angle->setObjectName(Parameters::kRGBDProximityAngle().c_str());
_ui->checkBox_localSpacePathOdomPosesUsed->setObjectName(Parameters::kRGBDProximityPathRawPosesUsed().c_str());