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Added parameter "IcpPointToPlaneMaxComplexity". Added util3d::computeNormalsComplexity(). OdomInfo has now RegistrationInfo field to avoid duplicating members.

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This commit is contained in:
matlabbe
2017-09-11 13:17:53 -04:00
parent 380fc2cbde
commit aca005c287
25 changed files with 581 additions and 354 deletions
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10
tools/KittiDataset/main.cpp
View File

@@ -400,8 +400,8 @@ int main(int argc, char * argv[])
if(odomInfo.interval>0.0)
speed = odomInfo.transform.x()/odomInfo.interval*3.6;
externalStats.insert(std::make_pair("Odometry/Speed/kph", speed));
externalStats.insert(std::make_pair("Odometry/Inliers/ms", odomInfo.inliers));
externalStats.insert(std::make_pair("Odometry/Features/ms", odomInfo.features));
externalStats.insert(std::make_pair("Odometry/Inliers/", odomInfo.reg.inliers));
externalStats.insert(std::make_pair("Odometry/Features/", odomInfo.features));
bool processData = true;
if(iteration % mapUpdate != 0)
@@ -413,11 +413,11 @@ int main(int argc, char * argv[])
}
if(covariance.empty())
{
covariance = odomInfo.covariance;
covariance = odomInfo.reg.covariance;
}
else
{
covariance += odomInfo.covariance;
covariance += odomInfo.reg.covariance;
}
timer.restart();
@@ -431,7 +431,7 @@ int main(int argc, char * argv[])
++iteration;
printf("Iteration %d/%d: speed=%dkm/h camera=%dms, odom(quality=%d/%d)=%dms, slam=%dms",
iteration, totalImages, int(speed), int(cameraInfo.timeTotal*1000.0f), odomInfo.inliers, odomInfo.features, int(odomInfo.timeEstimation*1000.0f), int(slamTime*1000.0f));
iteration, totalImages, int(speed), int(cameraInfo.timeTotal*1000.0f), odomInfo.reg.inliers, odomInfo.features, int(odomInfo.timeEstimation*1000.0f), int(slamTime*1000.0f));
if(processData && rtabmap.getLoopClosureId()>0)
{
printf(" *");

10
tools/RgbdDataset/main.cpp
View File

@@ -226,8 +226,8 @@ int main(int argc, char * argv[])
Transform pose = odom.process(data, &odomInfo);
externalStats.insert(std::make_pair("Odometry/LocalBundle/ms", odomInfo.localBundleTime*1000.0f));
externalStats.insert(std::make_pair("Odometry/TotalTime/ms", odomInfo.timeEstimation*1000.0f));
externalStats.insert(std::make_pair("Odometry/Inliers/ms", odomInfo.inliers));
externalStats.insert(std::make_pair("Odometry/Features/ms", odomInfo.features));
externalStats.insert(std::make_pair("Odometry/Inliers/", odomInfo.reg.inliers));
externalStats.insert(std::make_pair("Odometry/Features/", odomInfo.features));
bool processData = true;
if(detectionRate>0.0f &&
@@ -251,11 +251,11 @@ int main(int argc, char * argv[])
}
if(covariance.empty())
{
covariance = odomInfo.covariance;
covariance = odomInfo.reg.covariance;
}
else
{
covariance += odomInfo.covariance;
covariance += odomInfo.reg.covariance;
}
timer.restart();
@@ -269,7 +269,7 @@ int main(int argc, char * argv[])
++iteration;
printf("Iteration %d/%d: camera=%dms, odom(quality=%d/%d)=%dms, slam=%dms",
iteration, totalImages, int(cameraInfo.timeTotal*1000.0f), odomInfo.inliers, odomInfo.features, int(odomInfo.timeEstimation*1000.0f), int(slamTime*1000.0f));
iteration, totalImages, int(cameraInfo.timeTotal*1000.0f), odomInfo.reg.inliers, odomInfo.features, int(odomInfo.timeEstimation*1000.0f), int(slamTime*1000.0f));
if(processData && rtabmap.getLoopClosureId()>0)
{
printf(" *");