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Added new options to filter source laser scans.

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SensorData can support laser scans CV_32FC6 format (point cloud with normals). Refactored RegistrationICP and updated CloudViewer to show PointNormal data.
Fixed bug with stereo clouds deterioration if decimation is set (CameraModel::scale()).
This commit is contained in:
matlabbe
2016-01-08 19:15:49 -05:00
parent e7565db5d0
commit 75f85f6b2a
31 changed files with 866 additions and 371 deletions
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corelib/src/Odometry.cpp
-7
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@@ -72,7 +72,6 @@ Odometry::Odometry(const rtabmap::ParametersMap & parameters) :
_particleNoiseR(Parameters::defaultOdomParticleNoiseR()),
_particleLambdaR(Parameters::defaultOdomParticleLambdaR()),
_fillInfoData(Parameters::defaultOdomFillInfoData()),
_varianceFromInliersCount(Parameters::defaultRegVarianceFromInliersCount()),
_kalmanProcessNoise(Parameters::defaultOdomKalmanProcessNoise()),
_kalmanMeasurementNoise(Parameters::defaultOdomKalmanMeasurementNoise()),
_resetCurrentCount(0),
@@ -85,7 +84,6 @@ Odometry::Odometry(const rtabmap::ParametersMap & parameters) :
Parameters::parse(parameters, Parameters::kRegForce3DoF(), _force3DoF);
Parameters::parse(parameters, Parameters::kOdomHolonomic(), _holonomic);
Parameters::parse(parameters, Parameters::kOdomFillInfoData(), _fillInfoData);
Parameters::parse(parameters, Parameters::kRegVarianceFromInliersCount(), _varianceFromInliersCount);
Parameters::parse(parameters, Parameters::kOdomFilteringStrategy(), _filteringStrategy);
Parameters::parse(parameters, Parameters::kOdomParticleSize(), _particleSize);
Parameters::parse(parameters, Parameters::kOdomParticleNoiseT(), _particleNoiseT);
@@ -330,11 +328,6 @@ Transform Odometry::process(const SensorData & data, OdometryInfo * info)
{
distanceTravelled_ += t.getNorm();
info->distanceTravelled = distanceTravelled_;
if(_varianceFromInliersCount)
{
info->variance = info->inliers > 0?1.0/double(info->inliers):1.0;
}
}
return _pose *= t; // updated