i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
matlabbe
2016-03-11 16:54:54 -05:00
parent 33525b292f
commit 0ae17ff17d
13 changed files with 363 additions and 667 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
corelib/src/OdometryF2M.cpp
View File

@@ -253,7 +253,7 @@ Transform OdometryF2M::computeTransform(
if(regPipeline_->isImageRequired() &&
(keyFrameThr_==0 || float(regInfo.inliers) <= keyFrameThr_*float(lastFrame_->sensorData().keypoints().size())))
{
UDEBUG("Update local map");
UDEBUG("Update local map (ratio=%f < %f)", float(regInfo.inliers)/float(lastFrame_->sensorData().keypoints().size()), keyFrameThr_);
// update local map
UASSERT(mapWords.size() == mapPoints.size());
@@ -326,7 +326,7 @@ Transform OdometryF2M::computeTransform(
if(regPipeline_->isScanRequired() &&
(scanKeyFrameThr_==0 || regInfo.icpInliersRatio <= scanKeyFrameThr_))
{
UINFO("Update local scan map %d", lastFrame_->id());
UINFO("Update local scan map %d (ratio=%f < %f)", lastFrame_->id(), regInfo.icpInliersRatio, scanKeyFrameThr_);
pcl::PointCloud<pcl::PointNormal>::Ptr mapCloudNormals = util3d::laserScanToPointCloudNormal(mapScan);
pcl::PointCloud<pcl::PointNormal>::Ptr frameCloudNormals = util3d::laserScanToPointCloudNormal(lastFrame_->sensorData().laserScanRaw(), newFramePose);
@@ -386,8 +386,6 @@ Transform OdometryF2M::computeTransform(
map_->setWords(mapWords);
map_->setWords3(mapPoints);
map_->setWordsDescriptors(mapDescriptors);
UINFO("Updated map: %d added %d removed (new map size=%d)", added, removed, (int)mapPoints.size());
}
}
else