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Refactoring: Split Odometry classes in multiple headers. Added Odometry::create(type) for convenience, working with "Odom/Strategy" parameter. Renamed OdometryBOW to OdometryLocalMap (more descriptive name).

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matlabbe
2016-01-05 16:37:14 -05:00
parent 1b2f1baf3d
commit 703b7181d9
21 changed files with 339 additions and 219 deletions
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130
corelib/include/rtabmap/core/Odometry.h
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@@ -33,22 +33,25 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/SensorData.h>
#include <rtabmap/core/Parameters.h>
#include <rtabmap/core/Signature.h>
#include <rtabmap/core/RegistrationVis.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
class UTimer;
namespace rtabmap {
class Feature2D;
class OdometryInfo;
class ParticleFilter;
class Stereo;
class RTABMAP_EXP Odometry
{
public:
enum Type {
kTypeUndef = -1,
kTypeLocalMap = 0,
kTypeF2F = 1
};
public:
static Odometry * create(const ParametersMap & parameters);
static Odometry * create(Type & type, const ParametersMap & parameters);
public:
virtual ~Odometry();
Transform process(const SensorData & data, OdometryInfo * info = 0);
@@ -116,116 +119,5 @@ protected:
Odometry(const rtabmap::ParametersMap & parameters);
};
class Memory;
class RTABMAP_EXP OdometryBOW : public Odometry
{
public:
OdometryBOW(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
virtual ~OdometryBOW();
virtual void reset(const Transform & initialPose = Transform::getIdentity());
const std::map<int, cv::Point3f> & getLocalMap() const {return localMap_;}
const Memory * getMemory() const {return _memory;}
private:
virtual Transform computeTransform(const SensorData & image, OdometryInfo * info = 0);
private:
//Parameters
int _localHistoryMaxSize;
std::string _fixedLocalMapPath;
Memory * _memory;
std::map<int, cv::Point3f> localMap_;
};
class RTABMAP_EXP OdometryF2F : public Odometry
{
public:
OdometryF2F(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
virtual ~OdometryF2F();
virtual void reset(const Transform & initialPose = Transform::getIdentity());
const Signature & getRefFrame() const {return refFrame_;}
private:
virtual Transform computeTransform(const SensorData & image, OdometryInfo * info = 0);
private:
//Parameters:
int keyFrameThr_;
bool guessFromMotion_;
RegistrationVis registration_;
Signature refFrame_;
Transform motionSinceLastKeyFrame_;
};
class RTABMAP_EXP OdometryMono : public Odometry
{
public:
OdometryMono(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
virtual ~OdometryMono();
virtual void reset(const Transform & initialPose);
private:
virtual Transform computeTransform(const SensorData & data, OdometryInfo * info = 0);
private:
//Parameters:
int flowWinSize_;
int flowIterations_;
double flowEps_;
int flowMaxLevel_;
Stereo * stereo_;
Memory * memory_;
int localHistoryMaxSize_;
float initMinFlow_;
float initMinTranslation_;
float minTranslation_;
float fundMatrixReprojError_;
float fundMatrixConfidence_;
cv::Mat refDepthOrRight_;
std::map<int, cv::Point2f> cornersMap_;
std::map<int, cv::Point3f> localMap_;
std::map<int, std::map<int, cv::Point3f> > keyFrameWords3D_;
std::map<int, Transform> keyFramePoses_;
float maxVariance_;
};
class RTABMAP_EXP OdometryICP : public Odometry
{
public:
OdometryICP(int decimation = 4,
float voxelSize = 0.005f,
int samples = 0,
float maxCorrespondenceDistance = 0.05f,
int maxIterations = 30,
float correspondenceRatio = 0.7f,
bool pointToPlane = true,
const ParametersMap & odometryParameter = rtabmap::ParametersMap());
virtual void reset(const Transform & initialPose = Transform::getIdentity());
private:
virtual Transform computeTransform(const SensorData & image, OdometryInfo * info = 0);
private:
int _decimation;
float _voxelSize;
float _samples;
float _maxCorrespondenceDistance;
int _maxIterations;
float _correspondenceRatio;
bool _pointToPlane;
pcl::PointCloud<pcl::PointNormal>::Ptr _previousCloudNormal; // for point ot plane
pcl::PointCloud<pcl::PointXYZ>::Ptr _previousCloud; // for point to point
};
} /* namespace rtabmap */
#endif /* ODOMETRY_H_ */

61
corelib/include/rtabmap/core/OdometryF2F.h Normal file
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@@ -0,0 +1,61 @@
/*
Copyright (c) 2010-2014, 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 ODOMETRYF2F_H_
#define ODOMETRYF2F_H_
#include <rtabmap/core/Odometry.h>
#include <rtabmap/core/RegistrationVis.h>
namespace rtabmap {
class RTABMAP_EXP OdometryF2F : public Odometry
{
public:
OdometryF2F(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
virtual ~OdometryF2F();
virtual void reset(const Transform & initialPose = Transform::getIdentity());
const Signature & getRefFrame() const {return refFrame_;}
private:
virtual Transform computeTransform(const SensorData & image, OdometryInfo * info = 0);
private:
//Parameters:
int keyFrameThr_;
bool guessFromMotion_;
RegistrationVis registration_;
Signature refFrame_;
Transform motionSinceLastKeyFrame_;
};
}
#endif /* ODOMETRYF2F_H_ */

68
corelib/include/rtabmap/core/OdometryICP.h Normal file
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@@ -0,0 +1,68 @@
/*
Copyright (c) 2010-2014, 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 ODOMETRYICP_H_
#define ODOMETRYICP_H_
#include <rtabmap/core/Odometry.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
namespace rtabmap {
class RTABMAP_EXP OdometryICP : public Odometry
{
public:
OdometryICP(int decimation = 4,
float voxelSize = 0.005f,
int samples = 0,
float maxCorrespondenceDistance = 0.05f,
int maxIterations = 30,
float correspondenceRatio = 0.7f,
bool pointToPlane = true,
const ParametersMap & odometryParameter = rtabmap::ParametersMap());
virtual void reset(const Transform & initialPose = Transform::getIdentity());
private:
virtual Transform computeTransform(const SensorData & image, OdometryInfo * info = 0);
private:
int _decimation;
float _voxelSize;
float _samples;
float _maxCorrespondenceDistance;
int _maxIterations;
float _correspondenceRatio;
bool _pointToPlane;
pcl::PointCloud<pcl::PointNormal>::Ptr _previousCloudNormal; // for point ot plane
pcl::PointCloud<pcl::PointXYZ>::Ptr _previousCloud; // for point to point
};
}
#endif /* ODOMETRYICP_H_ */

61
corelib/include/rtabmap/core/OdometryLocalMap.h Normal file
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@@ -0,0 +1,61 @@
/*
Copyright (c) 2010-2014, 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 ODOMETRYLOCALMAP_H_
#define ODOMETRYLOCALMAP_H_
#include <rtabmap/core/Odometry.h>
namespace rtabmap {
class Memory;
class RTABMAP_EXP OdometryLocalMap : public Odometry
{
public:
OdometryLocalMap(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
virtual ~OdometryLocalMap();
virtual void reset(const Transform & initialPose = Transform::getIdentity());
const std::map<int, cv::Point3f> & getLocalMap() const {return localMap_;}
const Memory * getMemory() const {return _memory;}
private:
virtual Transform computeTransform(const SensorData & image, OdometryInfo * info = 0);
private:
//Parameters
int _localHistoryMaxSize;
std::string _fixedLocalMapPath;
Memory * _memory;
std::map<int, cv::Point3f> localMap_;
};
}
#endif /* ODOMETRYLOCALMAP_H_ */

74
corelib/include/rtabmap/core/OdometryMono.h Normal file
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@@ -0,0 +1,74 @@
/*
Copyright (c) 2010-2014, 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 ODOMETRYMONO_H_
#define ODOMETRYMONO_H_
#include <rtabmap/core/Odometry.h>
namespace rtabmap {
class Memory;
class Stereo;
class RTABMAP_EXP OdometryMono : public Odometry
{
public:
OdometryMono(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
virtual ~OdometryMono();
virtual void reset(const Transform & initialPose);
private:
virtual Transform computeTransform(const SensorData & data, OdometryInfo * info = 0);
private:
//Parameters:
int flowWinSize_;
int flowIterations_;
double flowEps_;
int flowMaxLevel_;
Stereo * stereo_;
Memory * memory_;
int localHistoryMaxSize_;
float initMinFlow_;
float initMinTranslation_;
float minTranslation_;
float fundMatrixReprojError_;
float fundMatrixConfidence_;
cv::Mat refDepthOrRight_;
std::map<int, cv::Point2f> cornersMap_;
std::map<int, cv::Point3f> localMap_;
std::map<int, std::map<int, cv::Point3f> > keyFrameWords3D_;
std::map<int, Transform> keyFramePoses_;
float maxVariance_;
};
}
#endif /* ODOMETRYMONO_H_ */

2
corelib/include/rtabmap/core/Parameters.h
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@@ -331,7 +331,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Optimizer, Robust, bool, true, "Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies).");
// Odometry
RTABMAP_PARAM(Odom, Strategy, int, 0, "0=Features Map 1=Frame-to-Frame");
RTABMAP_PARAM(Odom, Strategy, int, 0, "0=Local Map 1=Frame-to-Frame");
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).");