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Added OdometryOpen3D

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matlabbe
2021-11-13 19:45:57 -05:00
parent 4ba805b5b3
commit 6c07a670ee
10 changed files with 573 additions and 17 deletions
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3
corelib/include/rtabmap/core/Odometry.h
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@@ -55,7 +55,8 @@ public:
kTypeMSCKF = 8,
kTypeVINS = 9,
kTypeOpenVINS = 10,
kTypeFLOAM = 11
kTypeFLOAM = 11,
kTypeOpen3D = 12
};
public:

6
corelib/include/rtabmap/core/Parameters.h
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@@ -432,7 +432,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(GTSAM, Optimizer, int, 1, "0=Levenberg 1=GaussNewton 2=Dogleg");
// Odometry
RTABMAP_PARAM(Odom, Strategy, int, 0, "0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) 2=Fovis 3=viso2 4=DVO-SLAM 5=ORB_SLAM2 6=OKVIS 7=LOAM 8=MSCKF_VIO 9=VINS-Fusion 10=OpenVINS 11=FLOAM");
RTABMAP_PARAM(Odom, Strategy, int, 0, "0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) 2=Fovis 3=viso2 4=DVO-SLAM 5=ORB_SLAM2 6=OKVIS 7=LOAM 8=MSCKF_VIO 9=VINS-Fusion 10=OpenVINS 11=FLOAM 12=Open3D");
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(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).");
@@ -572,6 +572,10 @@ class RTABMAP_EXP Parameters
// Odometry VINS
RTABMAP_PARAM_STR(OdomVINS, ConfigPath, "", "Path of VINS config file.");
// Odometry Open3D
RTABMAP_PARAM(OdomOpen3D, MaxDepth, float, 3.0, "Maximum depth.");
RTABMAP_PARAM(OdomOpen3D, Method, int, 0, "Registration method: 0=PointToPlane, 1=Intensity, 2=Hybrid.");
// Common registration parameters
RTABMAP_PARAM(Reg, RepeatOnce, bool, true, "Do a second registration with the output of the first registration as guess. Only done if no guess was provided for the first registration (like on loop closure). It can be useful if the registration approach used can use a guess to get better matches.");
RTABMAP_PARAM(Reg, Strategy, int, 0, "0=Vis, 1=Icp, 2=VisIcp");

59
corelib/include/rtabmap/core/odometry/OdometryOpen3D.h Normal file
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@@ -0,0 +1,59 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef ODOMETRYOPEN3D_H_
#define ODOMETRYOPEN3D_H_
#include <rtabmap/core/Odometry.h>
namespace rtabmap {
class RTABMAP_EXP OdometryOpen3D : public Odometry
{
public:
OdometryOpen3D(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
virtual ~OdometryOpen3D();
virtual void reset(const Transform & initialPose = Transform::getIdentity());
virtual Odometry::Type getType() {return Odometry::kTypeOpen3D;}
private:
virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
private:
#ifdef RTABMAP_OPEN3D
rtabmap::SensorData keyFrame_;
Transform lastKeyFramePose_;
int method_;
float maxDepth_;
float keyFrameThr_;
#endif
};
}
#endif /* ODOMETRYOPEN3D_H_ */