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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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38
tools/OdometryViewer/main.cpp
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@@ -29,7 +29,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UEventsManager.h>
#include <rtabmap/utilite/UFile.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/core/OdometryICP.h>
#include <rtabmap/core/OdometryLocalMap.h>
#include <rtabmap/core/OdometryF2F.h>
#include <rtabmap/core/OdometryMono.h>
@@ -76,7 +75,6 @@ void showUsage()
"\n"
" -d # ICP decimation (default 4)\n"
" -v # ICP voxel size (default 0.005)\n"
" -s # ICP samples (default 0, not used if voxel is set.)\n"
" -cr #.# ICP correspondence ratio (default 0.7)\n"
" -p2p ICP point to point (default point to plane)"
"\n"
@@ -117,7 +115,6 @@ int main (int argc, char * argv[])
int resetCountdown = rtabmap::Parameters::defaultOdomResetCountdown();
int decimation = 4;
float voxel = 0.005;
int samples = 10000;
float ratio = 0.7f;
int maxClouds = 10;
int briefBytes = rtabmap::Parameters::defaultBRIEFBytes();
@@ -402,23 +399,6 @@ int main (int argc, char * argv[])
}
continue;
}
if(strcmp(argv[i], "-s") == 0)
{
++i;
if(i < argc)
{
samples = std::atoi(argv[i]);
if(samples < 0)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-cr") == 0)
{
++i;
@@ -689,15 +669,13 @@ int main (int argc, char * argv[])
}
else if(icp) // ICP
{
UINFO("ICP maximum correspondences distance = %f", distance);
UINFO("ICP iterations = %d", iterations);
UINFO("Cloud decimation = %d", decimation);
UINFO("Cloud voxel size = %f", voxel);
UINFO("Cloud samples = %d", samples);
UINFO("Cloud correspondence ratio = %f", ratio);
UINFO("Cloud point to plane = %s", p2p?"false":"true");
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpMaxCorrespondenceDistance(), uNumber2Str(distance)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpIterations(), uNumber2Str(iterations)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpVoxelSize(), uNumber2Str(voxel)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpCorrespondenceRatio(), uNumber2Str(ratio)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpPointToPlane(), p2p?"false":"true"));
odom = new rtabmap::OdometryICP(decimation, voxel, samples, distance, iterations, ratio, !p2p);
odom = new rtabmap::OdometryF2F(parameters);
}
rtabmap::OdometryThread odomThread(odom);
@@ -811,6 +789,10 @@ int main (int argc, char * argv[])
if(camera->isCalibrated())
{
rtabmap::CameraThread cameraThread(camera);
if(icp)
{
cameraThread.setScanFromDepth(true, decimation, maxDepth);
}
odomThread.start();
cameraThread.start();