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Refactored OdometryBOW class to handle binary descriptors too (removed OdometryBin).

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Odometry: added "local map history" option to increase precision
Added new Nearest neighbor options (LSH, brute Force, GPU brute Force)
Added FREAK/ORB features
Increased version to 0.6.5

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1431 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-22 03:33:56 +00:00
parent bff3acf273
commit 65b79cd7a2
30 changed files with 2812 additions and 3045 deletions
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21
corelib/src/util3d.cpp
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@@ -377,7 +377,8 @@ void findCorrespondences(
const std::multimap<int, pcl::PointXYZ> & words2,
pcl::PointCloud<pcl::PointXYZ> & inliers1,
pcl::PointCloud<pcl::PointXYZ> & inliers2,
float maxDepth)
float maxDepth,
std::set<int> * uniqueCorrespondences)
{
std::list<int> ids = uUniqueKeys(words1);
// Find pairs
@@ -398,6 +399,10 @@ void findCorrespondences(
(maxDepth <= 0 || (inliers1[oi].x <= maxDepth && inliers2[oi].x<=maxDepth)))
{
++oi;
if(uniqueCorrespondences)
{
uniqueCorrespondences->insert(*iter);
}
}
}
}
@@ -604,6 +609,20 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP transformPointCloud(
return output;
}
pcl::PointXYZ RTABMAP_EXP transformPoint(
const pcl::PointXYZ & pt,
const Transform & transform)
{
return pcl::transformPoint(pt, transformToEigen3f(transform));
}
pcl::PointXYZRGB RTABMAP_EXP transformPoint(
const pcl::PointXYZRGB & pt,
const Transform & transform)
{
return pcl::transformPoint(pt, transformToEigen3f(transform));
}
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFromDepth(
const cv::Mat & imageDepth,
float depthConstant,