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

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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
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6
tools/OdometryViewer/main.cpp
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@@ -36,7 +36,7 @@ void showUsage()
" -au # Angular update (default 0.0 radian)\n"
" -reset # Reset countdown (default 0 = disabled)\n"
" -gpu Use GPU\n"
" -lh # Local history (default 1)\n"
" -lh # Local history (default 0)\n"
"\n"
" -brief_bytes # BRIEF bytes (default 32)\n"
" -fast_thr # FAST threshold (default 30)\n"
@@ -52,6 +52,7 @@ void showUsage()
" odometryViewer -odom 0 -lh 5000 SURF example\n"
" odometryViewer -odom 1 -lh 10000 SIFT example\n"
" odometryViewer -odom 4 -nn 2 -lh 1000 FAST/BRIEF example\n"
" odometryViewer -odom 3 -nn 2 -lh 1000 FAST/FREAK example\n"
" odometryViewer -icp -in 0.05 -i 30 ICP example\n");
exit(1);
}
@@ -649,6 +650,9 @@ int main (int argc, char * argv[])
UEventsManager::addHandler(&odomThread);
UEventsManager::addHandler(&odomViewer);
odomViewer.setCameraFree();
odomViewer.setGridShown(true);
odomViewer.setWindowTitle("Odometry viewer");
odomViewer.setMinimumWidth(800);
odomViewer.setMinimumHeight(500);