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Parameters: added Mem/StereoFromMotion (default false) and RGBD/ProximityOdomGuess (default false). Visual proximity detection is done before computing the loop closure transform (the later is ignored if visual proximity succeeded with a node close to loop closure, add Loop/Suppressed_hypothesis_id statistics to know when this happens). Changed Loop/Map_correction to Loop/Odom_correction (to better see the actual jumps of localization about /base_link frame, not /odom frame). util3d::generateWords3DMono() is now using openCV's implementation of five-point algorithm (this fixed some cases for which the older approach couldn't find any solution). UPlot: added scrolling area on the legend, added global legend option to show all curve statistics (mean, stddev,max). MainWindow's open dialog: reopen last directory when reopening a different database. ParametersToolBox: show default parameter value in tooltip. rtabmap-report: add --start option. rtabmap-reprocess: show details about proximity and loop detections, reset all localization statistics after changing database.

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This commit is contained in:
matlabbe
2020-05-19 15:01:50 -04:00
parent 55509c6c27
commit c7b84c60bc
31 changed files with 1889 additions and 1335 deletions
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1
guilib/include/rtabmap/gui/MainWindow.h
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@@ -329,6 +329,7 @@ private:
QString _newDatabasePath;
QString _newDatabasePathOutput;
QString _openedDatabasePath;
QString _defaultOpenDatabasePath;
bool _databaseUpdated;
bool _odomImageShow;
bool _odomImageDepthShow;

5
guilib/include/rtabmap/utilite/UPlot.h
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@@ -37,6 +37,7 @@ class QGraphicsView;
class QGraphicsScene;
class QGraphicsItem;
class QFormLayout;
class QScrollArea;
/**
* UPlotItem is a QGraphicsEllipseItem and can be inherited to do custom behaviors
@@ -353,6 +354,7 @@ public:
virtual ~UPlotLegendItem();
const UPlotCurve * curve() const {return _curve;}
QPixmap createSymbol(const QPen & pen, const QBrush & brush);
void showStdDevMeanMax(bool shown);
Q_SIGNALS:
void legendItemRemoved(const UPlotCurve *);
@@ -418,6 +420,9 @@ private:
QMenu * _menu;
QAction * _aUseFlatButtons;
QAction * _aCopyAllCurvesToClipboard;
QAction * _aShowAllStdDevMeanMax;
QLayout * _contentLayout;
QScrollArea * _scrollArea;
};