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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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This commit is contained in:
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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5
guilib/include/rtabmap/gui/CameraViewer.h
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@@ -35,6 +35,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/SensorData.h>
class QSpinBox;
class QCheckBox;
class QPushButton;
namespace rtabmap {
@@ -59,6 +61,9 @@ private:
bool processingImages_;
QSpinBox * decimationSpin_;
int validDecimationValue_;
QPushButton * pause_;
QCheckBox * showCloudCheckbox_;
QCheckBox * showScanCheckbox_;
};
} /* namespace rtabmap */

18
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -193,9 +193,11 @@ public:
bool getSourceDatabaseStampsUsed() const;//Database group
bool isSourceRGBDColorOnly() const;
bool isSourceStereoDepthGenerated() const;
bool isSourceScanFromDepth() const;
int getSourceScanFromDepthDecimation() const;
double getSourceScanFromDepthMaxDepth() const;
Transform getSourceLocalTransform() const; //Openni group
Transform getStereoLaserLocalTransform() const; // stereo images
Transform getRGBDLaserLocalTransform() const; // rgbd images
Transform getLaserLocalTransform() const; // directory images
Camera * createCamera(bool useRawImages = false); // return camera should be deleted if not null
int getIgnoredDCComponents() const;
@@ -259,25 +261,19 @@ private slots:
void openDatabaseViewer();
void selectSourceDatabase();
void selectCalibrationPath();
void selectSourceRGBDImagesStamps();
void selectSourceImagesStamps();
void selectSourceRGBDImagesPathRGB();
void selectSourceRGBDImagesPathDepth();
void selectSourceRGBDImagesPathScans();
void selectSourceRGBDImagesPathGt();
void selectSourceStereoImagesStamps();
void selectSourceImagesPathScans();
void selectSourceImagesPathGt();
void selectSourceStereoImagesPathLeft();
void selectSourceStereoImagesPathRight();
void selectSourceStereoImagesPathScans();
void selectSourceStereoImagesPathGt();
void selectSourceImagesPath();
void selectSourceVideoPath();
void selectSourceStereoVideoPath();
void selectSourceOniPath();
void selectSourceOni2Path();
void updateSourceGrpVisibility();
void updateRGBDCameraGroupBoxVisibility();
void updateRGBCameraGroupBoxVisibility();
void updateStereoCameraGroupBoxVisibility();
void testOdometry();
void testCamera();