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Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.

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Added Feature2D::generateKeypoints3D() for convenience.
Added parameter "Vis/PnPOpenCV2".
Added parameter "Vis/ForwardEstOnly".
Removed OdometryOpticalFlow class, replaced by OdometryF2F (frame-to-frame). To get the same previous OpticalFLow approach, parameter "Vis/CorType" should be set to 1.
Some parameters under group "OdomFlow/..." are now under "Vis/CorFlow...".
In Registration class, add computeTransformationMod() method to modify input signatures.
Added constructor Signature(SensorData) for convenience.
Modified words multimap used with cv::Point3f instead of pcl::PointXYZ to limit the use of PCL headers where they are not really required.
Added Stereo::create() for convenience.
Transform: fixed quaternion constructor where data_ was not initialized. Added parentheses operator for convenience.
DatabaseViewer: loading .rtabmap/rtabmap.ini instead of .rtabmap/dbViewer.ini when used from rtabmap application. Added vertical layout option for convenience.
MainWindow: fixed wrong Odometry speed values
ParametersToolBox: using QStackedWidget instead of a QToolBox for space, added "Restore Defaults" button.
This commit is contained in:
matlabbe
2015-12-21 17:27:05 -05:00
parent 3292fb1146
commit 2e9634cf65
54 changed files with 2838 additions and 2725 deletions
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corelib/include/rtabmap/core/RegistrationVis.h
+12 -5
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@@ -42,14 +42,14 @@ public:
virtual void parseParameters(const ParametersMap & parameters);
virtual Transform computeTransformation(
const Signature & from,
const Signature & to,
virtual Transform computeTransformationMod(
Signature & from,
Signature & to,
Transform guess = Transform::getIdentity(), // guess is ignored for RegistrationVis
std::string * rejectedMsg = 0,
int * inliersOut = 0,
std::vector<int> * inliersOut = 0,
float * varianceOut = 0,
float * inliersRatioOut = 0);
float * inliersRatioOut = 0) const;
float getBowInlierDistance() const {return _inlierDistance;}
int getBowIterations() const {return _iterations;}
@@ -64,8 +64,15 @@ private:
bool _force2D;
float _epipolarGeometryVar;
int _estimationType;
bool _forwardEstimateOnly;
double _PnPReprojError;
int _PnPFlags;
bool _PnPOpenCV2;
int _correspondencesApproach;
int _flowWinSize;
int _flowIterations;
float _flowEps;
int _flowMaxLevel;
ParametersMap _featureParameters;
};