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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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corelib/src/RegistrationVis.cpp
+23 -3
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@@ -1291,10 +1291,30 @@ Transform RegistrationVis::computeTransformationImpl(
poses.insert(std::make_pair(1, Transform::getIdentity()));
poses.insert(std::make_pair(2, transforms[0]));
links.insert(std::make_pair(1, Link(1, 2, Link::kNeighbor, transforms[0], (covariances[0]*transforms[0].getNorm()).inv())));
cv::Mat cov = covariances[0].clone();
if(covarianceNormalized())
{
cv::Mat(cov, cv::Range(0,3), cv::Range(0,3)) *= transform.getNorm();
cv::Mat(cov, cv::Range(3,6), cv::Range(3,6)) *= transform.getAngle();
}
if(cov.at<double>(0,0)<=0.0)
{
cov = cv::Mat::eye(6,6,CV_64FC1)*0.000001; // epsilon if exact transform
}
links.insert(std::make_pair(1, Link(1, 2, Link::kNeighbor, transforms[0], cov.inv())));
if(!transforms[1].isNull() && inliers[1].size())
{
links.insert(std::make_pair(2, Link(2, 1, Link::kNeighbor, transforms[1], (covariances[1]*transforms[1].getNorm()).inv())));
cov = covariances[1].clone();
if(covarianceNormalized())
{
cv::Mat(cov, cv::Range(0,3), cv::Range(0,3)) *= transform.getNorm();
cv::Mat(cov, cv::Range(3,6), cv::Range(3,6)) *= transform.getAngle();
}
if(cov.at<double>(0,0)<=0.0)
{
cov = cv::Mat::eye(6,6,CV_64FC1)*0.000001; // epsilon if exact transform
}
links.insert(std::make_pair(2, Link(2, 1, Link::kNeighbor, transforms[1], cov.inv())));
}
std::map<int, Transform> optimizedPoses;
@@ -1450,7 +1470,7 @@ Transform RegistrationVis::computeTransformationImpl(
info.inliers = inliersCount;
info.matches = matchesCount;
info.rejectedMsg = msg;
info.covariance = covariance.at<double>(0,0)>0.0001?covariance:cv::Mat::eye(6,6,CV_64FC1)*0.0001; // epsilon if exact transform
info.covariance = covariance;
UDEBUG("transform=%s", transform.prettyPrint().c_str());
return transform;