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Added parameter Rtabmap/LoopGPS (default true) to enabled/disable the use of GPS in likelihood computation

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matlabbe
2018-10-22 14:39:30 -04:00
parent 3bc8fc4c11
commit d2abc3a237
5 changed files with 54 additions and 25 deletions
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1
guilib/src/PreferencesDialog.cpp
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@@ -709,6 +709,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->general_checkBox_startNewMapOnGoodSignature->setObjectName(Parameters::kRtabmapStartNewMapOnGoodSignature().c_str());
_ui->general_checkBox_imagesAlreadyRectified->setObjectName(Parameters::kRtabmapImagesAlreadyRectified().c_str());
_ui->general_checkBox_rectifyOnlyFeatures->setObjectName(Parameters::kRtabmapRectifyOnlyFeatures().c_str());
_ui->checkBox_rtabmap_loopGPS->setObjectName(Parameters::kRtabmapLoopGPS().c_str());
_ui->lineEdit_workingDirectory->setObjectName(Parameters::kRtabmapWorkingDirectory().c_str());
connect(_ui->toolButton_workingDirectory, SIGNAL(clicked()), this, SLOT(changeWorkingDirectory()));

24
guilib/src/ui/preferencesDialog.ui
View File

@@ -94,7 +94,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-57</y>
<width>681</width>
<height>2983</height>
</rect>
@@ -126,7 +126,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>24</number>
<number>11</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -8704,6 +8704,26 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_502">
<property name="text">
<string>Use GPS to filter likelihood (if GPS is recorded). Only locations inside the Local Radius (see RGBD-SLAM panel) of the current GPS location are considered for loop closure detection.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_rtabmap_loopGPS">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
<item>