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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/Odometry.cpp
+4
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@@ -40,6 +40,7 @@ Odometry::Odometry(const rtabmap::ParametersMap & parameters) :
_inlierDistance(Parameters::defaultVisInlierDistance()),
_iterations(Parameters::defaultVisIterations()),
_refineIterations(Parameters::defaultVisRefineIterations()),
_minDepth(Parameters::defaultVisMinDepth()),
_maxDepth(Parameters::defaultVisMaxDepth()),
_resetCountdown(Parameters::defaultOdomResetCountdown()),
_force2D(Parameters::defaultVisForce2D()),
@@ -54,6 +55,7 @@ Odometry::Odometry(const rtabmap::ParametersMap & parameters) :
_estimationType(Parameters::defaultVisEstimationType()),
_pnpReprojError(Parameters::defaultVisPnPReprojError()),
_pnpFlags(Parameters::defaultVisPnPFlags()),
_pnpOpenCV2(Parameters::defaultVisPnPOpenCV2()),
_varianceFromInliersCount(Parameters::defaultRegVarianceFromInliersCount()),
_kalmanProcessNoise(Parameters::defaultOdomKalmanProcessNoise()),
_kalmanMeasurementNoise(Parameters::defaultOdomKalmanMeasurementNoise()),
@@ -68,6 +70,7 @@ Odometry::Odometry(const rtabmap::ParametersMap & parameters) :
Parameters::parse(parameters, Parameters::kVisInlierDistance(), _inlierDistance);
Parameters::parse(parameters, Parameters::kVisIterations(), _iterations);
Parameters::parse(parameters, Parameters::kVisRefineIterations(), _refineIterations);
Parameters::parse(parameters, Parameters::kVisMinDepth(), _minDepth);
Parameters::parse(parameters, Parameters::kVisMaxDepth(), _maxDepth);
Parameters::parse(parameters, Parameters::kVisRoiRatios(), _roiRatios);
Parameters::parse(parameters, Parameters::kVisForce2D(), _force2D);
@@ -76,6 +79,7 @@ Odometry::Odometry(const rtabmap::ParametersMap & parameters) :
Parameters::parse(parameters, Parameters::kVisEstimationType(), _estimationType);
Parameters::parse(parameters, Parameters::kVisPnPReprojError(), _pnpReprojError);
Parameters::parse(parameters, Parameters::kVisPnPFlags(), _pnpFlags);
Parameters::parse(parameters, Parameters::kVisPnPOpenCV2(), _pnpOpenCV2);
UASSERT(_pnpFlags>=0 && _pnpFlags <=2);
Parameters::parse(parameters, Parameters::kRegVarianceFromInliersCount(), _varianceFromInliersCount);
Parameters::parse(parameters, Parameters::kOdomFilteringStrategy(), _filteringStrategy);