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Updated how local scan matching is done (doing it on segmented local paths)

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This commit is contained in:
Mathieu Labbe
2015-04-27 02:43:06 -04:00
parent 2e706ed01f
commit db90da7303
16 changed files with 532 additions and 226 deletions
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8
guilib/src/MainWindow.cpp
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@@ -602,7 +602,7 @@ void MainWindow::handleEvent(UEvent* anEvent)
RtabmapEvent * rtabmapEvent = (RtabmapEvent*)anEvent;
Statistics stats = rtabmapEvent->getStats();
int highestHypothesisId = int(uValue(stats.data(), Statistics::kLoopHighest_hypothesis_id(), 0.0f));
int localLoopClosureId = int(uValue(stats.data(), Statistics::kLocalLoopSpace_closure_id(), 0.0f));
int localLoopClosureId = int(uValue(stats.data(), Statistics::kLocalLoopSpace_last_closure_id(), 0.0f));
bool rejectedHyp = bool(uValue(stats.data(), Statistics::kLoopRejectedHypothesis(), 0.0f));
float highestHypothesisValue = uValue(stats.data(), Statistics::kLoopHighest_hypothesis_value(), 0.0f);
if((stats.loopClosureId() > 0 &&
@@ -1984,6 +1984,9 @@ void MainWindow::processRtabmapGlobalPathEvent(const rtabmap::RtabmapGlobalPathE
else
{
_ui->graphicsView_graphView->setGlobalPath(event.getPoses());
_ui->statusbar->showMessage(
tr("Global path computed from %1 (%2 poses, %3 m)!").arg(event.getGoal()).arg(event.getPoses().size()).arg(graph::computePathLength(event.getPoses())),
5000);
}
}
@@ -2730,7 +2733,8 @@ void MainWindow::startDetection()
{
_dbReader = new DBReader(_preferencesDialog->getSourceDatabasePath().toStdString(),
_preferencesDialog->getGeneralInputRate(),
_preferencesDialog->getSourceDatabaseOdometryIgnored());
_preferencesDialog->getSourceDatabaseOdometryIgnored(),
_preferencesDialog->getSourceDatabaseGoalDelayIgnored());
//Create odometry thread if rgdb slam
if(uStr2Bool(parameters.at(Parameters::kRGBDEnabled()).c_str()) &&