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OdometryF2M: updated how local scan map is updated

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matlabbe
2016-06-25 13:18:09 -04:00
parent ca95c9de97
commit 517bfa5272
7 changed files with 138 additions and 55 deletions
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5
corelib/include/rtabmap/core/OdometryF2M.h
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@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/Odometry.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/pcl_base.h>
namespace rtabmap {
@@ -57,13 +58,13 @@ private:
int maxNewFeatures_;
float scanKeyFrameThr_;
int scanMaximumMapSize_;
float scanSubstractRadius_;
float scanSubtractRadius_;
std::string fixedMapPath_;
Registration * regPipeline_;
Signature * map_;
Signature * lastFrame_;
std::map<int, pcl::PointCloud<pcl::PointNormal>::Ptr > scansBuffer_;
std::vector<std::pair<pcl::PointCloud<pcl::PointNormal>::Ptr, pcl::IndicesPtr> > scansBuffer_;
};
}

2
corelib/include/rtabmap/core/Parameters.h
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@@ -372,7 +372,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(OdomF2M, MaxSize, int, 2000, "[Visual] Local map size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words.");
RTABMAP_PARAM(OdomF2M, MaxNewFeatures, int, 0, "[Visual] Maximum features (sorted by keypoint response) added to local map from a new key-frame. 0 means no limit.");
RTABMAP_PARAM(OdomF2M, ScanMaxSize, int, 2000, "[Geometry] Maximum local scan map size.");
RTABMAP_PARAM(OdomF2M, ScanSubstractRadius, float, 0.05, "[Geometry] Radius used to filter points of a new added scan to local map. This could match the voxel size of the scans.");
RTABMAP_PARAM(OdomF2M, ScanSubtractRadius, float, 0.05, "[Geometry] Radius used to filter points of a new added scan to local map. This could match the voxel size of the scans.");
RTABMAP_PARAM_STR(OdomF2M, FixedMapPath, "", "Path to a fixed map (RTAB-Map's database) to be used for odometry. Odometry will be constraint to this map. RGB-only images can be used if odometry PnP estimation is used.")
// Odometry Mono