i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

modified how correspondences ratio is computed (icp 2D and 3D), also fixed build with OpenCV3+Cuda

Browse Source
This commit is contained in:
Mathieu Labbé
2015-07-11 12:42:46 -04:00
parent bf295c4274
commit 2d7be6be48
12 changed files with 388 additions and 339 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
corelib/include/rtabmap/core/Memory.h
View File

@@ -272,7 +272,7 @@ private:
int _bowRefineIterations;
bool _bowForce2D;
float _bowEpipolarGeometryVar;
bool _bowEstimationType;
int _bowEstimationType;
double _bowPnPReprojError;
int _bowPnPFlags;
float _icpMaxTranslation;

28
corelib/include/rtabmap/core/util3d_registration.h
View File

@@ -56,32 +56,42 @@ Transform RTABMAP_EXP transformFromXYZCorrespondences(
std::vector<int> * inliers = 0,
double * variance = 0);
void RTABMAP_EXP computeVarianceAndCorrespondences(
const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudA,
const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudB,
double maxCorrespondenceDistance,
double & variance,
int & correspondencesOut);
void RTABMAP_EXP computeVarianceAndCorrespondences(
const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudA,
const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudB,
double maxCorrespondenceDistance,
double & variance,
int & correspondencesOut);
Transform RTABMAP_EXP icp(
const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_target,
double maxCorrespondenceDistance,
int maximumIterations,
bool * hasConverged = 0,
double * variance = 0,
int * correspondences = 0);
bool & hasConverged,
pcl::PointCloud<pcl::PointXYZ> & cloud_source_registered);
Transform RTABMAP_EXP icpPointToPlane(
const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_source,
const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_target,
double maxCorrespondenceDistance,
int maximumIterations,
bool * hasConverged = 0,
double * variance = 0,
int * correspondences = 0);
bool & hasConverged,
pcl::PointCloud<pcl::PointNormal> & cloud_source_registered);
Transform RTABMAP_EXP icp2D(
const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_target,
double maxCorrespondenceDistance,
int maximumIterations,
bool * hasConverged = 0,
double * variance = 0,
int * correspondences = 0);
bool & hasConverged,
pcl::PointCloud<pcl::PointXYZ> & cloud_source_registered);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP getICPReadyCloud(
const cv::Mat & depth,