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Parameters: Added "Reg/VarianceNormalized". Registration: Transforms are now only normalized in Registration. Added rgbd_dataset tool. MainWindow: odom inliers-only shown option. ExportCloudsDialog: ignoring intermediate nodes for texturing (if they don't have data). DatabaseViewer: "optimized" checkbox enabled in Constraints view for non-neighbor links too.

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matlabbe
2017-05-22 11:48:01 -04:00
parent 58e6424bf7
commit 385b7e3389
20 changed files with 758 additions and 155 deletions
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1
corelib/include/rtabmap/core/Parameters.h
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@@ -399,6 +399,7 @@ class RTABMAP_EXP Parameters
// Common registration parameters
RTABMAP_PARAM(Reg, VarianceFromInliersCount, bool, false, "Set variance as the inverse of the number of inliers. Otherwise, the variance is computed as the average 3D position error of the inliers.");
RTABMAP_PARAM(Reg, VarianceNormalized, bool, false, "Normalize covariance values. Position variances are multiplied by norm of the transform and orientation variances are multiplied by angle of the transform.");
RTABMAP_PARAM(Reg, Strategy, int, 0, "0=Vis, 1=Icp, 2=VisIcp");
RTABMAP_PARAM(Reg, Force3DoF, bool, false, "Force 3 degrees-of-freedom transform (3Dof: x,y and yaw). Parameters z, roll and pitch will be set to 0.");

2
corelib/include/rtabmap/core/Registration.h
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@@ -63,6 +63,7 @@ public:
bool varianceFromInliersCount() const {return varianceFromInliersCount_;}
bool force3DoF() const {return force3DoF_;}
bool covarianceNormalized() const {return covarianceNormalized_;}
// take ownership!
void setChildRegistration(Registration * child);
@@ -104,6 +105,7 @@ protected:
private:
bool varianceFromInliersCount_;
bool covarianceNormalized_;
bool force3DoF_;
Registration * child_;