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

reverted modif on z when honolonomic but added modif on yaw depending on the estimated y value

Browse Source
This commit is contained in:
matlabbe
2015-06-16 10:50:49 -04:00
parent 7cd0d0cd53
commit 6a7a9fb9b0
4 changed files with 42 additions and 30 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
corelib/include/rtabmap/core/Parameters.h
View File

@@ -322,7 +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 and up/down commands can be issued). If not, y/z values will be estimated from x and rotation values (y=x*tan(yaw), z=x*tan(pitch)).");
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.");