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added new statistics (features extracted current image, local map size) shown in GUI for Odometry

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1719 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-09-25 15:04:35 +00:00
parent c5eedd9a9d
commit ebeb116c0d
11 changed files with 135 additions and 37 deletions
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guilib/src/DatabaseViewer.cpp
+4 -1
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@@ -907,7 +907,10 @@ void DatabaseViewer::detectMoreLoopClosures()
std::multimap<int, rtabmap::Link> links = updateLinksWithModifications(links_);
optimizedPoses = optimizeGraph(ids, poses_, links);
std::multimap<int, int> clusters = util3d::radiusPosesClustering(optimizedPoses, 0.1, 0.1);
std::multimap<int, int> clusters = util3d::radiusPosesClustering(
optimizedPoses,
ui_->doubleSpinBox_detectMore_radius->value(),
ui_->doubleSpinBox_detectMore_angle->value());
int added = 0;
for(std::multimap<int, int>::iterator iter=clusters.begin(); iter!= clusters.end(); ++iter)
{