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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/util3d_correspondences.cpp
+12 -12
View File
@@ -315,10 +315,10 @@ void findCorrespondences(
}
void findCorrespondences(
const std::multimap<int, pcl::PointXYZ> & words1,
const std::multimap<int, pcl::PointXYZ> & words2,
pcl::PointCloud<pcl::PointXYZ> & inliers1,
pcl::PointCloud<pcl::PointXYZ> & inliers2,
const std::multimap<int, cv::Point3f> & words1,
const std::multimap<int, cv::Point3f> & words2,
std::vector<cv::Point3f> & inliers1,
std::vector<cv::Point3f> & inliers2,
float maxDepth,
std::vector<int> * uniqueCorrespondences)
{
@@ -338,8 +338,8 @@ void findCorrespondences(
{
inliers1[oi] = words1.find(*iter)->second;
inliers2[oi] = words2.find(*iter)->second;
if(pcl::isFinite(inliers1[oi]) &&
pcl::isFinite(inliers2[oi]) &&
if(util3d::isFinite(inliers1[oi]) &&
util3d::isFinite(inliers2[oi]) &&
(inliers1[oi].x != 0 || inliers1[oi].y != 0 || inliers1[oi].z != 0) &&
(inliers2[oi].x != 0 || inliers2[oi].y != 0 || inliers2[oi].z != 0) &&
(maxDepth <= 0 || (inliers1[oi].x > 0 && inliers1[oi].x <= maxDepth && inliers2[oi].x>0 &&inliers2[oi].x<=maxDepth)))
@@ -361,10 +361,10 @@ void findCorrespondences(
}
void findCorrespondences(
const std::map<int, pcl::PointXYZ> & words1,
const std::map<int, pcl::PointXYZ> & words2,
pcl::PointCloud<pcl::PointXYZ> & inliers1,
pcl::PointCloud<pcl::PointXYZ> & inliers2,
const std::map<int, cv::Point3f> & words1,
const std::map<int, cv::Point3f> & words2,
std::vector<cv::Point3f> & inliers1,
std::vector<cv::Point3f> & inliers2,
float maxDepth,
std::vector<int> * correspondences)
{
@@ -384,8 +384,8 @@ void findCorrespondences(
{
inliers1[oi] = words1.find(*iter)->second;
inliers2[oi] = words2.find(*iter)->second;
if(pcl::isFinite(inliers1[oi]) &&
pcl::isFinite(inliers2[oi]) &&
if(util3d::isFinite(inliers1[oi]) &&
util3d::isFinite(inliers2[oi]) &&
(inliers1[oi].x != 0 || inliers1[oi].y != 0 || inliers1[oi].z != 0) &&
(inliers2[oi].x != 0 || inliers2[oi].y != 0 || inliers2[oi].z != 0) &&
(maxDepth <= 0 || (inliers1[oi].x > 0 && inliers1[oi].x <= maxDepth && inliers2[oi].x>0 &&inliers2[oi].x<=maxDepth)))