i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-11 14:00:20 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update 0.15.4.

Browse Source 
Parameters:
-Added "GridGlobal/MaxNodes=0", "Rtabmap/PublishRAMUsage=false", "Mem/DepthAsMask=true", "Kp/FlannRebalancingFactor=2.0", "Vis/DepthAsMask=true".
-Modified "Kp/DetectorStrategy=6", "Kp/MaxFeatures=500",  "Mem/UseOdomFeatures=true", "GFTT/QualityLevel=0.001", "GFTT/MinDistance=3", "RGBD/OptimizeMaxError=1", "RGBD/ProximityPathFilteringRadius=1", "Odom/GuessMotion=true", "Odom/VisKeyFrameThr=150", "OdomF2M/BundleAdjustment=1", "Vis/Iterations=300" if built with g2o, "OdomF2M/BundleAdjustmentMaxFrames=10", "OdomFovis/MinFeaturesForEstimate=20", "OdomORBSLAM2/MapSize=3000", "Reg/RepeatOnce=true", "Vis/PnPRefineIterations=0" if built with g2o, "Vis/CorGuessMatchToProjection=true", "Vis/BundleAdjustment=1" if built with g2o, "Icp/MaxCorrespondenceDistance=0.1", "Icp/PointToPlaneK=5", "Icp/PointToPlaneRadius=1", "Icp/PM=true" if built with libpointmatcher, "Stereo/MaxLevel=5", "Stereo/MinDisparity=0.5".

BayesFilter: optimized prediction matrix update. Use of new argument "ignoreLocalSpaceLoopIds" of Memory::getNeighborsId() to ignore loop closure link by space in prediction update.
CameraThread: Added stereo exposure compensation option.
CameraRGB: Added forceGroundNormalsUp option and added support of ground truth from EuRoC dataset.
Statistics: Added "Memory/RAM_usage/MB".
Transform: Added clone() method to do deep copy.
Graph::importPoses(): EuRoC format support (9).
Rtabmap: Local visual loop closures are now identified as GlobalClosure link type.
OccupancyGrid/OctoMap: updated how cache is used (old node retrieved can be re-added to map without re-assembling the whole map).
OdometryF2F: when using ICP, increasing correspondence distance for first two frames. If Vis/CorType=1 and registration fails, second guess without motion is done with Vis/CorType=0.
OdometryF2M/RegVis: updated how features are removed from the map, using new projectedIDs filled in RegistrationInfo by RegistrationVis.
OdometryORBSLAM2: Maximum size of the feature map can be set with "OdomORBSLAM2/MapSize" parameter.
CloudViewer: fixed opengl camera drifting in follow mode.
DatabaseViewer: Added optimization scale option. ConstraintsView: hide loop closure links if type is ignored in gui parameters.
MainWindow: Support of "GridGlobal/MaxNodes" parameters when updating the maps.
UPlot: don't show ellipses when not in graphics view mode, updated how "random" colors are attributed to curves
Added rtabmap-euroc_dataset tool. Updated rtabmap-kitti_dataset and rtabmap-rgbd_dataset tools.
Added rtabmap-reprocess tool.
This commit is contained in:
matlabbe
2018-02-01 22:17:46 -05:00
parent 9f80f4ac42
commit 977d21eed5
76 changed files with 3844 additions and 1307 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/util3d_surface.cpp
+53
View File
@@ -2629,6 +2629,59 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr mls(
return cloud_with_normals;
}
void adjustNormalsToViewPoint(
pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
const Eigen::Vector3f & viewpoint,
bool forceGroundNormalsUp)
{
for(unsigned int i=0; i<cloud->size(); ++i)
{
pcl::PointXYZ normal(cloud->points[i].normal_x, cloud->points[i].normal_y, cloud->points[i].normal_z);
if(pcl::isFinite(normal))
{
Eigen::Vector3f v = viewpoint - cloud->points[i].getVector3fMap();
Eigen::Vector3f n(normal.x, normal.y, normal.z);
float result = v.dot(n);
if(result < 0
|| (forceGroundNormalsUp && normal.z < -0.8 && cloud->points[i].normal_z < viewpoint[3])) // some far velodyne rays on road can have normals toward ground
{
//UWARN("Reverse %d of n=%f,%f,%f result=%f", i, cloud->points[i].normal_x, cloud->points[i].normal_y, cloud->points[i].normal_z, result);
//reverse normal
cloud->points[i].normal_x *= -1.0f;
cloud->points[i].normal_y *= -1.0f;
cloud->points[i].normal_z *= -1.0f;
}
}
}
}
void adjustNormalsToViewPoint(
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
const Eigen::Vector3f & viewpoint,
bool forceGroundNormalsUp)
{
for(unsigned int i=0; i<cloud->size(); ++i)
{
pcl::PointXYZ normal(cloud->points[i].normal_x, cloud->points[i].normal_y, cloud->points[i].normal_z);
if(pcl::isFinite(normal))
{
Eigen::Vector3f v = viewpoint - cloud->points[i].getVector3fMap();
Eigen::Vector3f n(normal.x, normal.y, normal.z);
float result = v.dot(n);
if(result < 0
|| (forceGroundNormalsUp && normal.z < -0.8 && cloud->points[i].normal_z < viewpoint[3])) // some far velodyne rays on road can have normals toward ground
{
//reverse normal
cloud->points[i].normal_x *= -1.0f;
cloud->points[i].normal_y *= -1.0f;
cloud->points[i].normal_z *= -1.0f;
}
}
}
}
void adjustNormalsToViewPoints(
const std::map<int, Transform> & poses,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,