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Odometry: added force2D option

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Changed parameter RGBD/ScanMatchingSize to RGBD/PoseScanMatching

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2050 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-19 23:38:15 +00:00
parent 89bcea3057
commit faf43cc82c
9 changed files with 127 additions and 88 deletions
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31
guilib/src/ui/preferencesDialog.ui
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@@ -65,7 +65,7 @@
<x>0</x>
<y>0</y>
<width>744</width>
<height>932</height>
<height>1161</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>23</number>
<number>19</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -4923,7 +4923,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item row="3" column="1">
<widget class="QLabel" name="label_scanMatching">
<property name="text">
<string>Laser scan matching history size for odometry correction. Set to 0 to disable odometry correction. ICP 2D only is used here.</string>
<string>Laser scan matching for odometry pose correction. ICP 2D only is used here.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -4931,7 +4931,11 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="odomScanHistory"/>
<widget class="QCheckBox" name="odomScanHistory">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</widget>
@@ -5067,7 +5071,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item row="0" column="0">
<widget class="QSpinBox" name="globalDetection_toroIterations">
<property name="minimum">
<number>1</number>
<number>0</number>
</property>
<property name="maximum">
<number>10000</number>
@@ -6323,6 +6327,23 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="odom_force2D">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_196">
<property name="text">
<string>Force 2D transform (3DoF: x,y and yaw).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>