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Added GMS matching approach (Vis/CorNNType=7). Added GMS/ parameters. Added SuperGlue/Indoor parameter. ImageView: updating feature and line colors directly when changing color (option menu), fixed items already added to scene warning when switching to GraphicsView.

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matlabbe
2020-05-11 13:23:26 -04:00
parent cc9fd439fe
commit d2673ed2fa
12 changed files with 600 additions and 309 deletions
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corelib/src/Parameters.cpp
+1 -8
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@@ -184,16 +184,9 @@ rtabmap::ParametersMap Parameters::getDefaultOdometryParameters(bool stereo, boo
group.compare("Optimizer") == 0 ||
group.compare("g2o") == 0 ||
group.compare("GTSAM") == 0 ||
(vis && (group.compare("Vis") == 0 || group.compare("SuperGlue") == 0)) ||
(vis && (group.compare("Vis") == 0 || group.compare("SuperGlue") == 0 || group.compare("GMS") == 0)) ||
iter->first.compare(kRtabmapPublishRAMUsage())==0)
{
if(stereo)
{
if(iter->first.compare(Parameters::kVisEstimationType()) == 0)
{
iter->second = "1"; // 3D->2D (PNP)
}
}
odomParameters.insert(*iter);
}
}