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0.11.13. OdometryF2M: fixed/improved bundle adjustment option. OptimizerG2O: now doing stereo BA instead of mono BA (interface of Optimizer::optimzeBA() has slightly changed to include depth in word references). Registration and Odometry set angular and linear variances separately. RegistrationVis set x100 smaller variance for rotation. Added keypoints3D member to SensorData. Added Transform::getAngle() for convenience. Odometry normalizes variances. RtabmapThread does variance summation when frames are discarded. Updated how variance is computed by util3d::estimateMotion3Dto2D(), ignoring very large variance from the computation (stereo issue with very far matched features). MainWindow: added option to align with ground truth or not (default true as before), added for odometry statistics (including bundle stuff), update ground truth statistics every time a graph is loaded/optimized. CameraRGB can now load odometry files (to fake an input odometry). PreferencesDialog: Added option to Odometry so it can use a different registration approach than the default one (the one used for loop closure). Parameters: added new g2o/Solver option 3 (Eigen), added g2o/RobustKernelDelta, g2o/Baseline and Odom/VisKeyFrameThr. Database: from 0.11.13, ignoring patch version when comparing is database version is newer than app version used.

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This commit is contained in:
matlabbe
2017-01-03 21:05:00 -05:00
parent 6550a52cee
commit 6abed48af6
48 changed files with 2202 additions and 1329 deletions
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2
guilib/include/rtabmap/gui/MainWindow.h
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@@ -245,7 +245,7 @@ private:
std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> createAndAddCloudToMap(int nodeId, const Transform & pose, int mapId);
void createAndAddScanToMap(int nodeId, const Transform & pose, int mapId);
void createAndAddFeaturesToMap(int nodeId, const Transform & pose, int mapId);
Transform alignPosesToGroundTruth(std::map<int, Transform> & poses, const std::map<int, Transform> & groundTruth);
Transform alignPosesToGroundTruth(std::map<int, Transform> & poses, const std::map<int, Transform> & groundTruth, double stamp = 0.0, int refId = -1);
void drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords, const std::multimap<int, cv::KeyPoint> & loopWords);
void setupMainLayout(bool vertical);
void updateSelectSourceMenu();

3
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -150,6 +150,7 @@ public:
bool notifyWhenNewGlobalPathIsReceived() const;
int getOdomQualityWarnThr() const;
bool isPosteriorGraphView() const;
int getOdomRegistrationApproach() const;
bool isOdomDisabled() const;
bool isGroundTruthAligned() const;
@@ -223,6 +224,7 @@ public:
bool isSourceDatabaseStampsUsed() const;
bool isSourceRGBDColorOnly() const;
bool isDepthFilteringAvailable() const;
QString getSourceDistortionModel() const;
bool isBilateralFiltering() const;
double getBilateralSigmaS() const;
@@ -307,6 +309,7 @@ private slots:
void selectSourceRGBDImagesPathRGB();
void selectSourceRGBDImagesPathDepth();
void selectSourceImagesPathScans();
void selectSourceImagesPathOdom();
void selectSourceImagesPathGt();
void selectSourceStereoImagesPathLeft();
void selectSourceStereoImagesPathRight();