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Refactoring Registration: added RegistrationInfo class, pipeline registration. Camera source: create laser scan from depth image. Removed OdometryICP as the same behavior can be achieved with OdometryF2F and "Reg/Strategy" = 1 (ICP) or 2 (Vis+ICP).

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matlabbe
2016-01-06 17:26:55 -05:00
parent 1c66ad1db2
commit 28d9bbb85d
35 changed files with 1209 additions and 1362 deletions
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corelib/src/Odometry.cpp
+2 -2
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@@ -70,7 +70,7 @@ Odometry::Odometry(const rtabmap::ParametersMap & parameters) :
_minDepth(Parameters::defaultVisMinDepth()),
_maxDepth(Parameters::defaultVisMaxDepth()),
_resetCountdown(Parameters::defaultOdomResetCountdown()),
_force2D(Parameters::defaultVisForce2D()),
_force2D(Parameters::defaultRegForce3DoF()),
_holonomic(Parameters::defaultOdomHolonomic()),
_filteringStrategy(Parameters::defaultOdomFilteringStrategy()),
_particleSize(Parameters::defaultOdomParticleSize()),
@@ -100,7 +100,7 @@ Odometry::Odometry(const rtabmap::ParametersMap & parameters) :
Parameters::parse(parameters, Parameters::kVisMinDepth(), _minDepth);
Parameters::parse(parameters, Parameters::kVisMaxDepth(), _maxDepth);
Parameters::parse(parameters, Parameters::kVisRoiRatios(), _roiRatios);
Parameters::parse(parameters, Parameters::kVisForce2D(), _force2D);
Parameters::parse(parameters, Parameters::kRegForce3DoF(), _force2D);
Parameters::parse(parameters, Parameters::kOdomHolonomic(), _holonomic);
Parameters::parse(parameters, Parameters::kOdomFillInfoData(), _fillInfoData);
Parameters::parse(parameters, Parameters::kVisEstimationType(), _estimationType);