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Added Odom/VarianceFromInliersCount parameter (default false)

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matlabbe
2015-09-28 21:45:41 -04:00
parent 3fa6124ad0
commit bf0790f3b9
7 changed files with 54 additions and 14 deletions
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4
guilib/src/MainWindow.cpp
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@@ -2931,7 +2931,7 @@ void MainWindow::startDetection()
{
odom = new OdometryBOW(parameters);
}
_odomThread = new OdometryThread(odom, _preferencesDialog->getOdomBufferSize());
_odomThread = new OdometryThread(odom, _preferencesDialog->getOdomBufferSize(), _preferencesDialog->getOdomVarianceFromInliersCount());
UEventsManager::addHandler(_odomThread);
UEventsManager::createPipe(_camera, _odomThread, "CameraEvent");
@@ -2968,7 +2968,7 @@ void MainWindow::startDetection()
{
odom = new OdometryBOW(parameters);
}
_odomThread = new OdometryThread(odom);
_odomThread = new OdometryThread(odom, _preferencesDialog->getOdomBufferSize(), _preferencesDialog->getOdomVarianceFromInliersCount());
UEventsManager::addHandler(_odomThread);
_odomThread->start();