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New parameter: OdomF2M/ValidDepthRatio

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matlabbe
2019-03-06 12:35:54 -05:00
parent d85c1c3bcf
commit cf4db63226
8 changed files with 292 additions and 124 deletions
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2
guilib/src/MainWindow.cpp
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@@ -1196,7 +1196,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
for(std::map<int, cv::Point3f>::const_iterator iter=odom.info().localMap.begin(); iter!=odom.info().localMap.end(); ++iter)
{
// filter very far features from current location
if(uNormSquared(iter->second.x-odom.pose().x(), iter->second.y-odom.pose().y(), iter->second.z-odom.pose().z()) < 50*50)
if(uNormSquared(iter->second.x-odom.pose().x(), iter->second.y-odom.pose().y(), iter->second.z-odom.pose().z()) < 100*100)
{
(*cloud)[i].x = iter->second.x;
(*cloud)[i].y = iter->second.y;