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rtabmap:

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-Fixed map id not incremented on Odometry reset (identity transform was missed)
-Keeping maximum odometry variance between two loop closure updates
Odometry:
-removed parameters Odom/FeaturesRatio, Odom/LinearUpdate, Odom/AngularUpdate
-added parameter Odom/FillInfoData
-expended OdometryInfo class with features stuff
Gui:
-show inliers/outliers features in Odometry view
This commit is contained in:
Mathieu Labbe
2014-12-18 16:54:46 -05:00
parent 744e2fb3c7
commit 86a6fe202c
17 changed files with 325 additions and 382 deletions
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63
tools/OdometryViewer/main.cpp
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@@ -60,9 +60,6 @@ void showUsage()
" -min # Minimum inliers to accept the transform (default 20)\n"
" -depth #.# Maximum features depth (default 5.0 m)\n"
" -i # RANSAC/ICP iterations (default 30)\n"
" -r #.# Words ratio (default 0.5)\n"
" -lu # Linear update (default 0.0 m)\n"
" -au # Angular update (default 0.0 radian)\n"
" -reset # Reset countdown (default 0 = disabled)\n"
" -gpu Use GPU\n"
" -lh # Local history (default 1000)\n"
@@ -105,11 +102,8 @@ int main (int argc, char * argv[])
float distance = 0.01;
int maxWords = 0;
int minInliers = 20;
float wordsRatio = 0.5;
float maxDepth = 5.0f;
int iterations = 30;
float linearUpdate = 0.0f;
float angularUpdate = 0.0f;
int resetCountdown = 0;
int decimation = 4;
float voxel = 0.005;
@@ -347,57 +341,6 @@ int main (int argc, char * argv[])
}
continue;
}
if(strcmp(argv[i], "-r") == 0)
{
++i;
if(i < argc)
{
wordsRatio = std::atof(argv[i]);
if(wordsRatio < 0.0f || wordsRatio > 1.0f)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-lu") == 0)
{
++i;
if(i < argc)
{
linearUpdate = std::atof(argv[i]);
if(linearUpdate < 0.0f)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-au") == 0)
{
++i;
if(i < argc)
{
angularUpdate = std::atof(argv[i]);
if(angularUpdate < 0.0f)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-reset") == 0)
{
++i;
@@ -655,8 +598,6 @@ int main (int argc, char * argv[])
UINFO("Maximum clouds shown = %d", maxClouds);
UINFO("Delay = %f s", sec);
UINFO("Max depth = %f", maxDepth);
UINFO("Linear update = %f", linearUpdate);
UINFO("Angular update = %f", angularUpdate);
UINFO("Reset odometry coutdown = %d", resetCountdown);
UINFO("Local history = %d", localHistory);
@@ -667,8 +608,6 @@ int main (int argc, char * argv[])
rtabmap::ParametersMap parameters;
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomMaxDepth(), uNumber2Str(maxDepth)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomLinearUpdate(), uNumber2Str(linearUpdate)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomAngularUpdate(), uNumber2Str(angularUpdate)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomResetCountdown(), uNumber2Str(resetCountdown)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomBowLocalHistorySize(), uNumber2Str(localHistory)));
@@ -693,7 +632,6 @@ int main (int argc, char * argv[])
UINFO("Nearest neighbor ratio = %f", nndr);
UINFO("Max features = %d", maxWords);
UINFO("Min inliers = %d", minInliers);
UINFO("Words ratio = %f", wordsRatio);
UINFO("Inlier maximum correspondences distance = %f", distance);
UINFO("RANSAC iterations = %d", iterations);
UINFO("GPU = %s", gpu?"true":"false");
@@ -702,7 +640,6 @@ int main (int argc, char * argv[])
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomMinInliers(), uNumber2Str(minInliers)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomIterations(), uNumber2Str(iterations)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomFeatureType(), uNumber2Str(odomType)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomFeaturesRatio(), uNumber2Str(wordsRatio)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomBowNNType(), uNumber2Str(nnType)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomBowNNDR(), uNumber2Str(nndr)));
if(odomType == 0)