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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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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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3
guilib/src/MainWindow.cpp
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@@ -4817,7 +4817,7 @@ void MainWindow::newDatabase()
void MainWindow::openDatabase()
{
QString path = QFileDialog::getOpenFileName(this, tr("Open database..."), _preferencesDialog->getWorkingDirectory(), tr("RTAB-Map database files (*.db)"));
QString path = QFileDialog::getOpenFileName(this, tr("Open database..."), _defaultOpenDatabasePath.isEmpty()?_preferencesDialog->getWorkingDirectory():_defaultOpenDatabasePath, tr("RTAB-Map database files (*.db)"));
if(!path.isEmpty())
{
this->openDatabase(path);
@@ -4843,6 +4843,7 @@ void MainWindow::openDatabase(const QString & path, const ParametersMap & overri
this->clearTheCache();
_openedDatabasePath = path;
_defaultOpenDatabasePath = path;
// look if there are saved parameters
DBDriver * driver = DBDriver::create();