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0.13.3: scan2d with normals support/registration

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matlabbe
2017-08-25 18:02:40 -04:00
parent 964a052be1
commit 52a4e8964f
28 changed files with 1029 additions and 337 deletions
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9
tools/OdometryViewer/main.cpp
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@@ -191,6 +191,7 @@ int main (int argc, char * argv[])
float maxDepth = 4.0f;
float voxelSize = rtabmap::Parameters::defaultIcpVoxelSize();
int normalsK = 0;
float normalsRadius = 0.0f;
if(regStrategy == 1 || regStrategy == 2)
{
// icp requires scans
@@ -203,8 +204,10 @@ int main (int argc, char * argv[])
rtabmap::Parameters::parse(parameters, rtabmap::Parameters::kIcpPointToPlane(), pointToPlane);
if(pointToPlane)
{
normalsK = rtabmap::Parameters::defaultIcpPointToPlaneNormalNeighbors();
rtabmap::Parameters::parse(parameters, rtabmap::Parameters::kIcpPointToPlaneNormalNeighbors(), normalsK);
normalsK = rtabmap::Parameters::defaultIcpPointToPlaneK();
rtabmap::Parameters::parse(parameters, rtabmap::Parameters::kIcpPointToPlaneK(), normalsK);
normalsRadius = rtabmap::Parameters::defaultIcpPointToPlaneRadius();
rtabmap::Parameters::parse(parameters, rtabmap::Parameters::kIcpPointToPlaneRadius(), normalsRadius);
}
uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kIcpDownsamplingStep(), "1"));
@@ -310,7 +313,7 @@ int main (int argc, char * argv[])
{
rtabmap::CameraThread cameraThread(camera, parameters);
cameraThread.setScanFromDepth(icp, decimation<1?1:decimation, maxDepth, voxelSize, normalsK);
cameraThread.setScanFromDepth(icp, decimation<1?1:decimation, maxDepth, voxelSize, normalsK, normalsRadius);
odomThread.start();
cameraThread.start();