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Added "Odom/AligWithGround" parameter. Added util3d::extractPlane().

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matlabbe
2016-06-12 21:45:22 -04:00
parent 543b8df045
commit 84dd258777
7 changed files with 151 additions and 9 deletions
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1
corelib/include/rtabmap/core/Odometry.h
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@@ -84,6 +84,7 @@ private:
float _kalmanProcessNoise;
float _kalmanMeasurementNoise;
int _imageDecimation;
bool _alignWithGround;
Transform _pose;
int _resetCurrentCount;
double previousStamp_;

1
corelib/include/rtabmap/core/Parameters.h
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@@ -366,6 +366,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Odom, KeyFrameThr, float, 0.3, "[Visual] Create a new keyframe when the number of inliers drops under this ratio of features in last frame. Setting the value to 0 means that a keyframe is created for each processed frame.");
RTABMAP_PARAM(Odom, ScanKeyFrameThr, float, 0.7, "[Geometry] Create a new keyframe when the number of ICP inliers drops under this ratio of points in last frame's scan. Setting the value to 0 means that a keyframe is created for each processed frame.");
RTABMAP_PARAM(Odom, ImageDecimation, int, 1, "Decimation of the images before registration.");
RTABMAP_PARAM(Odom, AlignWithGround, bool, false, "Align odometry with the ground on initialization.");
// Odometry Bag-of-words
RTABMAP_PARAM(OdomF2M, MaxSize, int, 2000, "[Visual] Local map size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words.");

13
corelib/include/rtabmap/core/util3d_filtering.h
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@@ -34,6 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/pcl_base.h>
#include <pcl/ModelCoefficients.h>
namespace rtabmap
{
@@ -485,6 +486,18 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP extractIndices(
bool negative,
bool keepOrganized);
pcl::IndicesPtr extractPlane(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
float distanceThreshold,
int maxIterations = 100,
pcl::ModelCoefficients * coefficientsOut = 0);
pcl::IndicesPtr extractPlane(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const pcl::IndicesPtr & indices,
float distanceThreshold,
int maxIterations = 100,
pcl::ModelCoefficients * coefficientsOut = 0);
} // namespace util3d
} // namespace rtabmap