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Added Parameters::parseArguments() and Parameters::showUsage() functions for convenience. Updated OdometryViewer and Console tools to use parseArguments().

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matlabbe
2016-03-11 16:54:54 -05:00
parent 33525b292f
commit 0ae17ff17d
13 changed files with 363 additions and 667 deletions
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5
corelib/include/rtabmap/core/Parameters.h
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@@ -419,7 +419,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.05, "Max distance for point correspondences.");
RTABMAP_PARAM(Icp, Iterations, int, 30, "Max iterations.");
RTABMAP_PARAM(Icp, Epsilon, float, 0.0, "Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution.");
RTABMAP_PARAM(Icp, CorrespondenceRatio, float, 0.3, "Ratio of matching correspondences to accept the transform.");
RTABMAP_PARAM(Icp, CorrespondenceRatio, float, 0.2, "Ratio of matching correspondences to accept the transform.");
RTABMAP_PARAM(Icp, PointToPlane, bool, false, "Use point to plane ICP.");
RTABMAP_PARAM(Icp, PointToPlaneNormalNeighbors, int, 20, "Number of neighbors to compute normals for point to plane.");
@@ -476,6 +476,9 @@ public:
static void parse(const ParametersMap & parameters, const std::string & key, std::string & value);
static void parse(const ParametersMap & parameters, ParametersMap & parametersOut);
static const char * showUsage();
static ParametersMap parseArguments(int argc, char * argv[]);
static std::string getVersion();
static std::string getDefaultDatabaseName();