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Added PnP Pose estimation based Odometry option. Added sensor icons in menu.

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This commit is contained in:
Mathieu Labbe
2015-03-31 15:45:38 -04:00
parent 7e216bf842
commit 6089a44589
19 changed files with 1088 additions and 453 deletions
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6
corelib/include/rtabmap/core/Odometry.h
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@@ -70,6 +70,9 @@ public:
int getRefineIterations() const {return _refineIterations;}
float getMaxDepth() const {return _maxDepth;}
bool isInfoDataFilled() const {return _fillInfoData;}
bool isPnPEstimationUsed() const {return _pnpEstimation;}
double getPnPReprojError() const {return _pnpReprojError;}
int getPnPFlags() const {return _pnpFlags;}
private:
virtual Transform computeTransform(const SensorData & image, OdometryInfo * info = 0) = 0;
@@ -85,6 +88,9 @@ private:
int _resetCountdown;
bool _force2D;
bool _fillInfoData;
bool _pnpEstimation;
double _pnpReprojError;
int _pnpFlags;
Transform _pose;
int _resetCurrentCount;

3
corelib/include/rtabmap/core/Parameters.h
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@@ -318,6 +318,9 @@ class RTABMAP_EXP Parameters
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, FillInfoData, bool, true, "Fill info with data (inliers/outliers features).");
RTABMAP_PARAM(Odom, PnPEstimation, bool, false, "(PnP) Pose estimation from 2D to 3D correspondences instead of 3D to 3D correspondences.");
RTABMAP_PARAM(Odom, PnPReprojError, double, 8.0, "PnP reprojection error.");
RTABMAP_PARAM(Odom, PnPFlags, int, 0, "PnP flags: 0=Iterative, 1=EPNP, 2=P3P");
// Odometry Bag-of-words
RTABMAP_PARAM(OdomBow, LocalHistorySize, int, 1000, "Local history size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words.");