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Refactored motion estimation parameters in the GUI.

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matlabbe
2015-06-27 01:43:29 -04:00
parent e5447be23a
commit b7faef35f1
14 changed files with 921 additions and 775 deletions
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corelib/src/Odometry.cpp
+2 -2
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@@ -51,7 +51,7 @@ Odometry::Odometry(const rtabmap::ParametersMap & parameters) :
_particleNoiseR(Parameters::defaultOdomParticleNoiseR()),
_particleLambdaR(Parameters::defaultOdomParticleLambdaR()),
_fillInfoData(Parameters::defaultOdomFillInfoData()),
_pnpEstimation(Parameters::defaultOdomPnPEstimation()),
_estimationType(Parameters::defaultOdomEstimationType()),
_pnpReprojError(Parameters::defaultOdomPnPReprojError()),
_pnpFlags(Parameters::defaultOdomPnPFlags()),
_resetCurrentCount(0),
@@ -69,7 +69,7 @@ Odometry::Odometry(const rtabmap::ParametersMap & parameters) :
Parameters::parse(parameters, Parameters::kOdomForce2D(), _force2D);
Parameters::parse(parameters, Parameters::kOdomHolonomic(), _holonomic);
Parameters::parse(parameters, Parameters::kOdomFillInfoData(), _fillInfoData);
Parameters::parse(parameters, Parameters::kOdomPnPEstimation(), _pnpEstimation);
Parameters::parse(parameters, Parameters::kOdomEstimationType(), _estimationType);
Parameters::parse(parameters, Parameters::kOdomPnPReprojError(), _pnpReprojError);
Parameters::parse(parameters, Parameters::kOdomPnPFlags(), _pnpFlags);
UASSERT(_pnpFlags>=0 && _pnpFlags <=2);