i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-09 03:27:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

Removed parameter Vis/ForwardEstOnly. Added odometry statistics (matches,inliers,inliersRatio) per camera. Added OdometryInfo::statistics() function for convenience.

Browse Source
This commit is contained in:
matlabbe
2025-04-14 09:52:41 -07:00
parent b750e94eaa
commit 1d6c70c1db
16 changed files with 720 additions and 546 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/include/rtabmap/core/OdometryInfo.h
+5 -59
View File
@@ -1,5 +1,5 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
@@ -40,64 +40,9 @@ namespace rtabmap {
class OdometryInfo
{
public:
OdometryInfo() :
lost(true),
features(0),
localMapSize(0),
localScanMapSize(0),
localKeyFrames(0),
localBundleOutliers(0),
localBundleConstraints(0),
localBundleTime(0),
localBundleAvgInlierDistance(0.0f),
localBundleMaxKeyFramesForInlier(0),
keyFrameAdded(false),
timeDeskewing(0.0f),
timeEstimation(0.0f),
timeParticleFiltering(0.0f),
stamp(0),
interval(0),
distanceTravelled(0.0f),
memoryUsage(0),
gravityRollError(0.0),
gravityPitchError(0.0),
type(0)
{}
OdometryInfo copyWithoutData() const
{
OdometryInfo output;
output.lost = lost;
output.reg = reg.copyWithoutData();
output.features = features;
output.localMapSize = localMapSize;
output.localScanMapSize = localScanMapSize;
output.localKeyFrames = localKeyFrames;
output.localBundleOutliers = localBundleOutliers;
output.localBundleConstraints = localBundleConstraints;
output.localBundleTime = localBundleTime;
output.localBundlePoses = localBundlePoses;
output.localBundleModels = localBundleModels;
output.localBundleAvgInlierDistance = localBundleAvgInlierDistance;
output.localBundleMaxKeyFramesForInlier = localBundleMaxKeyFramesForInlier;
output.keyFrameAdded = keyFrameAdded;
output.timeDeskewing = timeDeskewing;
output.timeEstimation = timeEstimation;
output.timeParticleFiltering = timeParticleFiltering;
output.stamp = stamp;
output.interval = interval;
output.transform = transform;
output.transformFiltered = transformFiltered;
output.transformGroundTruth = transformGroundTruth;
output.guessVelocity = guessVelocity;
output.guess = guess;
output.distanceTravelled = distanceTravelled;
output.memoryUsage = memoryUsage;
output.gravityRollError = gravityRollError;
output.gravityPitchError = gravityPitchError;
output.type = type;
return output;
}
OdometryInfo();
OdometryInfo copyWithoutData() const;
std::map<std::string, float> statistics(const Transform & pose = Transform());
bool lost;
RegistrationInfo reg;
@@ -112,6 +57,7 @@ public:
std::map<int, std::vector<CameraModel> > localBundleModels;
float localBundleAvgInlierDistance;
int localBundleMaxKeyFramesForInlier;
std::vector<int> localBundleOutliersPerCam;
bool keyFrameAdded;
float timeDeskewing;
float timeEstimation;
corelib/include/rtabmap/core/Parameters.h
-1
View File
@@ -678,7 +678,6 @@ class RTABMAP_CORE_EXPORT Parameters
// Visual registration parameters
RTABMAP_PARAM(Vis, EstimationType, int, 1, "Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP), 2:2D->2D (Epipolar Geometry)");
RTABMAP_PARAM(Vis, ForwardEstOnly, bool, true, "Forward estimation only (A->B). If false, a transformation is also computed in backward direction (B->A), then the two resulting transforms are merged (middle interpolation between the transforms).");
RTABMAP_PARAM(Vis, InlierDistance, float, 0.1, uFormat("[%s = 0] Maximum distance for feature correspondences. Used by 3D->3D estimation approach.", kVisEstimationType().c_str()));
RTABMAP_PARAM(Vis, RefineIterations, int, 5, uFormat("[%s = 0] Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.", kVisEstimationType().c_str()));
RTABMAP_PARAM(Vis, PnPReprojError, float, 2, uFormat("[%s = 1] PnP reprojection error.", kVisEstimationType().c_str()));
corelib/include/rtabmap/core/RegistrationInfo.h
+4
View File
@@ -59,9 +59,11 @@ public:
output.covariance = covariance.clone();
output.rejectedMsg = rejectedMsg;
output.inliers = inliers;
output.inliersPerCam = inliersPerCam;
output.inliersMeanDistance = inliersMeanDistance;
output.inliersDistribution = inliersDistribution;
output.matches = matches;
output.matchesPerCam = matchesPerCam;
output.icpInliersRatio = icpInliersRatio;
output.icpTranslation = icpTranslation;
output.icpRotation = icpRotation;
@@ -85,6 +87,8 @@ public:
int matches;
std::vector<int> matchesIDs;
std::vector<int> projectedIDs; // "From" IDs
std::vector<int> inliersPerCam;
std::vector<int> matchesPerCam;
// RegistrationIcp
float icpInliersRatio;
corelib/include/rtabmap/core/RegistrationVis.h
-1
View File
@@ -78,7 +78,6 @@ private:
int _refineIterations;
float _epipolarGeometryVar;
int _estimationType;
bool _forwardEstimateOnly;
float _PnPReprojError;
int _PnPFlags;
int _PnPRefineIterations;
corelib/include/rtabmap/core/util3d_motion_estimation.h
+19
View File
@@ -76,6 +76,25 @@ Transform RTABMAP_CORE_EXPORT estimateMotion3DTo2D(
std::vector<int> * inliersOut = 0,
bool splitLinearCovarianceComponents = false);
Transform estimateMotion3DTo2D(
const std::map<int, cv::Point3f> & words3A,
const std::map<int, cv::KeyPoint> & words2B,
const std::vector<CameraModel> & cameraModels,
unsigned int samplingPolicy,
int minInliers,
int iterations,
double reprojError,
int flagsPnP,
int refineIterations,
int varianceMedianRatio,
float maxVariance,
const Transform & guess,
const std::map<int, cv::Point3f> & words3B,
cv::Mat * covariance,
std::vector<std::vector<int> > * matchesOut,
std::vector<std::vector<int> > * inliersOut,
bool splitLinearCovarianceComponents);
Transform RTABMAP_CORE_EXPORT estimateMotion3DTo3D(
const std::map<int, cv::Point3f> & words3A,
const std::map<int, cv::Point3f> & words3B,