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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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22
corelib/src/Signature.cpp
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@@ -75,6 +75,22 @@ Signature::Signature(
UASSERT(_sensorData.id() == _id);
}
Signature::Signature(const SensorData & data) :
_id(data.id()),
_mapId(-1),
_stamp(data.stamp()),
_weight(0),
_label(""),
_saved(false),
_modified(true),
_linksModified(true),
_enabled(false),
_pose(Transform::getIdentity()),
_sensorData(data)
{
}
Signature::~Signature()
{
//UDEBUG("id=%d", _id);
@@ -175,7 +191,7 @@ void Signature::changeWordsRef(int oldWordId, int activeWordId)
std::list<cv::KeyPoint> kps = uValues(_words, oldWordId);
if(kps.size())
{
std::list<pcl::PointXYZ> pts = uValues(_words3, oldWordId);
std::list<cv::Point3f> pts = uValues(_words3, oldWordId);
_words.erase(oldWordId);
_words3.erase(oldWordId);
_wordsChanged.insert(std::make_pair(oldWordId, activeWordId));
@@ -183,9 +199,9 @@ void Signature::changeWordsRef(int oldWordId, int activeWordId)
{
_words.insert(std::pair<int, cv::KeyPoint>(activeWordId, (*iter)));
}
for(std::list<pcl::PointXYZ>::const_iterator iter=pts.begin(); iter!=pts.end(); ++iter)
for(std::list<cv::Point3f>::const_iterator iter=pts.begin(); iter!=pts.end(); ++iter)
{
_words3.insert(std::pair<int, pcl::PointXYZ>(activeWordId, (*iter)));
_words3.insert(std::pair<int, cv::Point3f>(activeWordId, (*iter)));
}
}
}