i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added odometry honolomic parameter

Browse Source
This commit is contained in:
matlabbe
2015-06-15 20:53:31 -04:00
parent dfbf6e721e
commit 53f7719655
6 changed files with 52 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
corelib/include/rtabmap/core/Odometry.h
View File

@@ -77,6 +77,7 @@ private:
float _maxDepth;
int _resetCountdown;
bool _force2D;
bool _holonomic;
bool _particleFiltering;
int _particleSize;
float _particleNoiseT;

1
corelib/include/rtabmap/core/Parameters.h
View File

@@ -322,6 +322,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Odom, ResetCountdown, int, 0, "Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset).");
RTABMAP_PARAM_STR(Odom, RoiRatios, "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
RTABMAP_PARAM(Odom, Force2D, bool, false, "Force 2D transform (3Dof: x,y and yaw).");
RTABMAP_PARAM(Odom, Holonomic, bool, true, "If the robot is holonomic (strafing commands can be issued). If not, y value will be estimated from x and yaw values (y=x*tan(yaw)).");
RTABMAP_PARAM(Odom, FillInfoData, bool, true, "Fill info with data (inliers/outliers features).");
RTABMAP_PARAM(Odom, ImageBufferSize, unsigned int, 1, "Data buffer size (0 min inf).");
RTABMAP_PARAM(Odom, PnPEstimation, bool, false, "(PnP) Pose estimation from 2D to 3D correspondences instead of 3D to 3D correspondences.");