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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/src/DBDriverSqlite3.cpp
+5 -5
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@@ -1529,8 +1529,8 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
int visualWordId = 0;
cv::KeyPoint kpt;
std::multimap<int, cv::KeyPoint> visualWords;
std::multimap<int, pcl::PointXYZ> visualWords3;
pcl::PointXYZ depth(0,0,0);
std::multimap<int, cv::Point3f> visualWords3;
cv::Point3f depth(0,0,0);
// Process the result if one
rc = sqlite3_step(ppStmt);
@@ -2305,7 +2305,7 @@ void DBDriverSqlite3::saveQuery(const std::list<Signature *> & signatures) const
if((*i)->getWords3().size())
{
std::multimap<int, cv::KeyPoint>::const_iterator w=(*i)->getWords().begin();
std::multimap<int, pcl::PointXYZ>::const_iterator p=(*i)->getWords3().begin();
std::multimap<int, cv::Point3f>::const_iterator p=(*i)->getWords3().begin();
for(; w!=(*i)->getWords().end(); ++w, ++p)
{
UASSERT(w->first == p->first); // must be same id!
@@ -2316,7 +2316,7 @@ void DBDriverSqlite3::saveQuery(const std::list<Signature *> & signatures) const
{
for(std::multimap<int, cv::KeyPoint>::const_iterator w=(*i)->getWords().begin(); w!=(*i)->getWords().end(); ++w)
{
stepKeypoint(ppStmt, (*i)->id(), w->first, w->second, pcl::PointXYZ(0,0,0));
stepKeypoint(ppStmt, (*i)->id(), w->first, w->second, cv::Point3f(0,0,0));
}
}
}
@@ -3008,7 +3008,7 @@ std::string DBDriverSqlite3::queryStepKeypoint() const
{
return "INSERT INTO Map_Node_Word(node_id, word_id, pos_x, pos_y, size, dir, response, depth_x, depth_y, depth_z) VALUES(?,?,?,?,?,?,?,?,?,?);";
}
void DBDriverSqlite3::stepKeypoint(sqlite3_stmt * ppStmt, int nodeId, int wordId, const cv::KeyPoint & kp, const pcl::PointXYZ & pt) const
void DBDriverSqlite3::stepKeypoint(sqlite3_stmt * ppStmt, int nodeId, int wordId, const cv::KeyPoint & kp, const cv::Point3f & pt) const
{
if(!ppStmt)
{