i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added optimizeFromGraphEnd (default true) parameter. It can be used to keep the map referential from the oldest node in the current graph

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1441 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-25 23:00:35 +00:00
parent bb3c8afd45
commit f34907f92f
9 changed files with 171 additions and 88 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
guilib/src/PreferencesDialog.cpp
View File

@@ -400,6 +400,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->rgdb_newMapOdomChange->setObjectName(Parameters::kRGBDNewMapOdomChangeDistance().c_str());
_ui->odomScanHistory->setObjectName(Parameters::kRGBDScanMatchingSize().c_str());
_ui->globalDetection_toroIterations->setObjectName(Parameters::kRGBDToroIterations().c_str());
_ui->globalDetection_optimizeFromGraphEnd->setObjectName(Parameters::kRGBDOptimizeFromGraphEnd().c_str());
_ui->groupBox_localDetection_time->setObjectName(Parameters::kRGBDLocalLoopDetectionTime().c_str());
_ui->groupBox_localDetection_space->setObjectName(Parameters::kRGBDLocalLoopDetectionSpace().c_str());
@@ -1934,7 +1935,7 @@ void PreferencesDialog::addParameter(const QObject * object, bool value)
{
// add all RGBD parameters!
this->addParameters(_ui->groupBox_slam_update);
this->addParameters(_ui->groupBox_odom_correction);
this->addParameters(_ui->groupBox_graphOptimization);
this->addParameters(_ui->groupBox_localDetection_time);
this->addParameters(_ui->groupBox_localDetection_space);
this->addParameters(_ui->groupBox_globalConstraints);
@@ -2822,6 +2823,9 @@ void PreferencesDialog::testOdometry(int type)
OdometryViewer * odomViewer = new OdometryViewer(10, 2, 0.0, this->getOdomQualityWarnThr(), window);
odomViewer->setCameraFree();
odomViewer->setGridShown(true);
QVBoxLayout *layout = new QVBoxLayout();
layout->addWidget(odomViewer);
window->setLayout(layout);
@@ -2835,6 +2839,8 @@ void PreferencesDialog::testOdometry(int type)
window->showNormal();
_ui->pushButton_testOdometry->setEnabled(false);
QApplication::processEvents();
uSleep(500);
QApplication::processEvents();
@@ -2859,6 +2865,7 @@ void PreferencesDialog::cleanOdometryTest()
delete _odomThread;
_odomThread = 0;
}
_ui->pushButton_testOdometry->setEnabled(true);
}
}