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Removed parameter "OdomF2M/FixedMapPath". GUI: added odometry disabled option. Rtabmap can now localize even if odometry input is null (only in localization mode).

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matlabbe
2016-11-27 14:30:11 -05:00
parent 693f623e5e
commit 121446d648
15 changed files with 695 additions and 763 deletions
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1
corelib/include/rtabmap/core/OdometryF2M.h
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@@ -62,7 +62,6 @@ private:
float scanKeyFrameThr_;
int scanMaximumMapSize_;
float scanSubtractRadius_;
std::string fixedMapPath_;
int bundleAdjustment_;
int bundleAdjustmentMaxFrames_;

1
corelib/include/rtabmap/core/Parameters.h
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@@ -379,7 +379,6 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(OdomF2M, MaxNewFeatures, int, 0, "[Visual] Maximum features (sorted by keypoint response) added to local map from a new key-frame. 0 means no limit.");
RTABMAP_PARAM(OdomF2M, ScanMaxSize, int, 2000, "[Geometry] Maximum local scan map size.");
RTABMAP_PARAM(OdomF2M, ScanSubtractRadius, float, 0.05, "[Geometry] Radius used to filter points of a new added scan to local map. This could match the voxel size of the scans.");
RTABMAP_PARAM_STR(OdomF2M, FixedMapPath, "", "Path to a fixed map (RTAB-Map's database) to be used for odometry. Odometry will be constraint to this map. RGB-only images can be used if odometry PnP estimation is used.")
RTABMAP_PARAM(OdomF2M, BundleAdjustment, int, 0, "Local bundle adjustment: 0=disabled, 1=g2o, 2=cvsba.");
RTABMAP_PARAM(OdomF2M, BundleAdjustmentMaxFrames, int, 0, "Maximum frames used for bundle adjustment (0=inf or all current frames in the local map).");

2
corelib/include/rtabmap/core/Rtabmap.h
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@@ -61,7 +61,7 @@ public:
bool process(const cv::Mat & image, int id=0); // for convenience, an id is automatically generated if id=0
bool process(
const SensorData & data,
const Transform & odomPose,
Transform odomPose,
const cv::Mat & covariance = cv::Mat::eye(6,6,CV_64FC1)); // for convenience
void init(const ParametersMap & parameters, const std::string & databasePath = "");