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Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map

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Added Feature2D::parseParameters()
 

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1632 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-08-11 15:23:06 +00:00
parent 52af62394e
commit df76e3cd29
13 changed files with 1961 additions and 378 deletions
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guilib/include/rtabmap/gui/ImageView.h
+7 -1
View File
@@ -24,6 +24,7 @@
#include <QtGui/QGraphicsView>
#include <QtCore/QRectF>
#include <QtCore/QMultiMap>
#include <opencv2/features2d/features2d.hpp>
#include <map>
@@ -57,7 +58,12 @@ public:
void setFeatures(const std::multimap<int, cv::KeyPoint> & refWords);
void setImage(const QImage & image);
void setImageDepth(const QImage & image);
void setFeatureColor(int id, const QColor & color);
void setFeaturesColor(const QColor & color);
const QMultiMap<int, rtabmap::KeypointItem *> & getFeatures() const {return _features;}
void clearLines();
void clear();
protected:
@@ -82,7 +88,7 @@ private:
QAction * _showLines;
QAction * _saveImage;
QList<rtabmap::KeypointItem *> _features;
QMultiMap<int, rtabmap::KeypointItem *> _features;
QGraphicsPixmapItem * _image;
QGraphicsPixmapItem * _imageDepth;
};