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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/VWDictionary.cpp
+10 -7
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@@ -686,16 +686,19 @@ void VWDictionary::update()
UDEBUG("");
}
void VWDictionary::clear()
void VWDictionary::clear(bool printWarningsIfNotEmpty)
{
ULOGGER_DEBUG("");
if(_visualWords.size() && _incrementalDictionary)
if(printWarningsIfNotEmpty)
{
UWARN("Visual dictionary would be already empty here (%d words still in dictionary).", (int)_visualWords.size());
}
if(_notIndexedWords.size())
{
UWARN("Not indexed words should be empty here (%d words still not indexed)", (int)_notIndexedWords.size());
if(_visualWords.size() && _incrementalDictionary)
{
UWARN("Visual dictionary would be already empty here (%d words still in dictionary).", (int)_visualWords.size());
}
if(_notIndexedWords.size())
{
UWARN("Not indexed words should be empty here (%d words still not indexed)", (int)_notIndexedWords.size());
}
}
for(std::map<int, VisualWord *>::iterator i=_visualWords.begin(); i!=_visualWords.end(); ++i)
{