i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

using map instead of multimap for motion estimation methods (only unique words were used)

Browse Source
This commit is contained in:
matlabbe
2015-07-28 23:48:50 -04:00
parent a4039241c5
commit b686103765
14 changed files with 121 additions and 84 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
guilib/src/MainWindow.cpp
View File

@@ -848,8 +848,15 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
}
}
//detect if it is OdometryMono intitialization
bool monoInitialization = false;
if(_preferencesDialog->getOdomStrategy() == 2 && odom.info().type == 1)
{
monoInitialization = true;
}
_ui->imageView_odometry->clearLines();
if(lost)
if(lost && !monoInitialization)
{
if(lostStateChanged)
{

2
guilib/src/OdometryViewer.cpp
View File

@@ -265,7 +265,7 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
cloud->resize(odom.info().localMap.size());
int i=0;
for(std::multimap<int, cv::Point3f>::const_iterator iter=odom.info().localMap.begin(); iter!=odom.info().localMap.end(); ++iter)
for(std::map<int, cv::Point3f>::const_iterator iter=odom.info().localMap.begin(); iter!=odom.info().localMap.end(); ++iter)
{
(*cloud)[i].x = iter->second.x;
(*cloud)[i].y = iter->second.y;