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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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11
tools/OdometryViewer/main.cpp
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@@ -104,8 +104,8 @@ int main (int argc, char * argv[])
bool icp = false;
bool flow = false;
bool mono = false;
int nnType = rtabmap::Parameters::defaultVisNNType();
float nndr = rtabmap::Parameters::defaultVisNNDR();
int nnType = rtabmap::Parameters::defaultVisCorNNType();
float nndr = rtabmap::Parameters::defaultVisCorNNDR();
float distance = rtabmap::Parameters::defaultVisInlierDistance();
int maxWords = rtabmap::Parameters::defaultVisMaxFeatures();
int minInliers = rtabmap::Parameters::defaultVisMinInliers();
@@ -658,7 +658,8 @@ int main (int argc, char * argv[])
if(flow)
{
// Optical Flow
odom = new rtabmap::OdometryOpticalFlow(parameters);
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisCorType(), "1"));
odom = new rtabmap::OdometryF2F(parameters);
}
else
{
@@ -666,8 +667,8 @@ int main (int argc, char * argv[])
UINFO("Nearest neighbor = %s", nnName.c_str());
UINFO("Nearest neighbor ratio = %f", nndr);
UINFO("Local history = %d", localHistory);
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisNNType(), uNumber2Str(nnType)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisNNDR(), uNumber2Str(nndr)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisCorNNType(), uNumber2Str(nnType)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisCorNNDR(), uNumber2Str(nndr)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomBowLocalHistorySize(), uNumber2Str(localHistory)));
if(mono)

8
tools/StereoEval/main.cpp
View File

@@ -244,11 +244,9 @@ int main(int argc, char * argv[])
// generate kpts
std::vector<cv::KeyPoint> kpts;
cv::Rect roi = Feature2D::computeRoi(leftMono, "0.03 0.03 0.04 0.04");
int type;
Parameters::parse(parameters, Parameters::kKpDetectorStrategy(), type);
Feature2D * kptDetector = Feature2D::create(Feature2D::Type(type), parameters);
kpts = kptDetector->generateKeypoints(leftMono, roi);
uInsert(parameters, ParametersPair(Parameters::kKpRoiRatios(), "0.03 0.03 0.04 0.04"));
Feature2D * kptDetector = Feature2D::create(parameters);
kpts = kptDetector->generateKeypoints(leftMono);
delete kptDetector;
timeKpts = timer.ticks();