i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 16:57:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Implemented OptimizerG2O::optimimzeBA(). Updated PostProcessingDialog (g2o sba option). Fixed words descriptors not filled in rtabmap::getMap3D(). CameraModelD(): return 5 null coeff distorsions if not set

Browse Source
This commit is contained in:
matlabbe
2016-03-28 18:19:17 -04:00
parent 18759e7197
commit 8030d89634
16 changed files with 556 additions and 293 deletions
Download Patch File Download Diff File Expand all files Collapse all files
guilib/src/PostProcessingDialog.h
+4 -6
View File
@@ -31,6 +31,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QDialog>
#include <QtCore/QSettings>
#include <rtabmap/core/Optimizer.h>
class Ui_PostProcessingDialog;
class QAbstractButton;
@@ -53,28 +55,24 @@ public:
double clusterRadius() const;
double clusterAngle() const;
int iterations() const;
bool isReextractFeatures() const;
bool isRefineNeighborLinks() const;
bool isRefineLoopClosureLinks() const;
bool isSBA() const;
int sbaIterations() const;
double sbaEpsilon() const;
double sbaInlierDistance() const;
int sbaMinInliers() const;
Optimizer::Type sbaType() const;
//setters
void setDetectMoreLoopClosures(bool on);
void setClusterRadius(double radius);
void setClusterAngle(double angle);
void setIterations(int iterations);
void setReextractFeatures(bool on);
void setRefineNeighborLinks(bool on);
void setRefineLoopClosureLinks(bool on);
void setSBA(bool on);
void setSBAIterations(int iterations);
void setSBAEpsilon(double epsilon);
void setSBAInlierDistance(double inlierDistance);
void setSBAMinInliers(int minInliers);
void setSBAType(Optimizer::Type type);
signals:
void configChanged();