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Statistics: added variance info of the loop closure/localization. GUI: Graph view option to show nodes on which loop closures/localizations happened

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matlabbe
2018-07-26 14:40:16 -04:00
parent 60499e895f
commit cfdee23d33
8 changed files with 161 additions and 136 deletions
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guilib/include/rtabmap/gui/MainWindow.h
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@@ -340,6 +340,7 @@ private:
std::set<int> _cachedEmptyClouds;
std::pair<int, std::pair<std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr>, pcl::IndicesPtr> > _previousCloud; // used for subtraction
std::map<int, float> _cachedWordsCount;
std::map<int, float> _cachedLocalizationsCount;
std::map<int, LaserScan> _createdScans;

1
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -155,6 +155,7 @@ public:
bool isOdomOnlyInliersShown() const;
bool isPosteriorGraphView() const;
bool isWordsCountGraphView() const;
bool isLocalizationsCountGraphView() const;
int getOdomRegistrationApproach() const;
bool isOdomDisabled() const;
bool isGroundTruthAligned() const;