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Tango: Added "Adjust colors" post-processing option. Updated ICP parameters. Added "Mem/LaserScanNormalK" parameter for convenience.

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matlabbe
2016-09-07 17:19:21 -04:00
parent ce1acd9d44
commit 4a072b3dfc
18 changed files with 501 additions and 351 deletions
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1
corelib/include/rtabmap/core/Memory.h
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@@ -247,6 +247,7 @@ private:
int _imagePreDecimation;
int _imagePostDecimation;
float _laserScanDownsampleStepSize;
int _laserScanNormalK;
bool _reextractLoopClosureFeatures;
float _rehearsalMaxDistance;
float _rehearsalMaxAngle;

1
corelib/include/rtabmap/core/Parameters.h
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@@ -210,6 +210,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, ImagePreDecimation, int, 1, "Image decimation (>=1) before features extraction.");
RTABMAP_PARAM(Mem, ImagePostDecimation, int, 1, "Image decimation (>=1) of saved data in created signatures (after features extraction). Decimation is done from the original image.");
RTABMAP_PARAM(Mem, LaserScanDownsampleStepSize, int, 1, "If > 1, downsample the laser scans when creating a signature.");
RTABMAP_PARAM(Mem, LaserScanNormalK, int, 0, "If > 0 and laser scans are 3D without normals, normals will be computed with K search neighbors when creating a signature.");
RTABMAP_PARAM(Mem, UseOdomFeatures, bool, false, "Use odometry features.");
// KeypointMemory (Keypoint-based)

3
corelib/include/rtabmap/core/Statistics.h
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@@ -127,7 +127,8 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(TimingMem, Add_new_words, ms);
RTABMAP_STATS(TimingMem, Compressing_data, ms);
RTABMAP_STATS(TimingMem, Post_decimation, ms);
RTABMAP_STATS(TimingMem, Downsampling_scan, ms);
RTABMAP_STATS(TimingMem, Scan_downsampling, ms);
RTABMAP_STATS(TimingMem, Scan_normals, ms);
RTABMAP_STATS(TimingMem, Occupancy_grid, ms);
RTABMAP_STATS(Keypoint, Dictionary_size, words);

1
corelib/include/rtabmap/core/util3d.h
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@@ -186,6 +186,7 @@ pcl::PointCloud<pcl::PointXYZ> RTABMAP_EXP laserScanFromDepthImages(
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform());
// return CV_32FC6
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const Transform & transform = Transform());
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform());
// return CV_32FC4
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const Transform & transform = Transform());
// return CV_32FC2