i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used

Browse Source
This commit is contained in:
matlabbe
2015-11-22 18:08:32 -05:00
parent 1e5bcfded8
commit ae9f21acd7
46 changed files with 4934 additions and 4547 deletions
Download Patch File Download Diff File Expand all files Collapse all files

48
tools/ConsoleApp/main.cpp
View File

@@ -286,6 +286,54 @@ int main(int argc, char * argv[])
continue;
}
//backward compatibility
// look for old parameter name
std::map<std::string, std::pair<bool, std::string> >::const_iterator oldIter = Parameters::getRemovedParameters().find(key);
if(oldIter!=Parameters::getRemovedParameters().end())
{
++i;
if(i < argc)
{
std::string value = argv[i];
if(value.empty())
{
showUsage();
}
else
{
value = uReplaceChar(value, ',', ' ');
}
if(oldIter->second.first)
{
key = oldIter->second.second;
UWARN("Parameter migration from \"%s\" to \"%s\" (value=%s).",
oldIter->first.c_str(), oldIter->second.second.c_str(), value.c_str());
}
else if(oldIter->second.second.empty())
{
UERROR("Parameter \"%s\" doesn't exist anymore.", oldIter->first.c_str());
}
else
{
UERROR("Parameter \"%s\" doesn't exist anymore, check this similar parameter \"%s\".", oldIter->first.c_str(), oldIter->second.second.c_str());
}
if(oldIter->second.first)
{
std::pair<ParametersMap::iterator, bool> inserted = pm.insert(ParametersPair(key, value));
if(inserted.second == false)
{
inserted.first->second = value;
}
}
}
else
{
showUsage();
}
continue;
}
printf("Unrecognized option : %s\n", argv[i]);
showUsage();
}

38
tools/OdometryViewer/main.cpp
View File

@@ -100,17 +100,17 @@ int main (int argc, char * argv[])
float rate = 0.0;
std::string inputDatabase;
int driver = 0;
int odomType = rtabmap::Parameters::defaultOdomFeatureType();
int odomType = rtabmap::Parameters::defaultVisFeatureType();
bool icp = false;
bool flow = false;
bool mono = false;
int nnType = rtabmap::Parameters::defaultOdomBowNNType();
float nndr = rtabmap::Parameters::defaultOdomBowNNDR();
float distance = rtabmap::Parameters::defaultOdomInlierDistance();
int maxWords = rtabmap::Parameters::defaultOdomMaxFeatures();
int minInliers = rtabmap::Parameters::defaultOdomMinInliers();
float maxDepth = rtabmap::Parameters::defaultOdomMaxDepth();
int iterations = rtabmap::Parameters::defaultOdomIterations();
int nnType = rtabmap::Parameters::defaultVisNNType();
float nndr = rtabmap::Parameters::defaultVisNNDR();
float distance = rtabmap::Parameters::defaultVisInlierDistance();
int maxWords = rtabmap::Parameters::defaultVisMaxFeatures();
int minInliers = rtabmap::Parameters::defaultVisMinInliers();
float maxDepth = rtabmap::Parameters::defaultVisMaxDepth();
int iterations = rtabmap::Parameters::defaultVisIterations();
int resetCountdown = rtabmap::Parameters::defaultOdomResetCountdown();
int decimation = 4;
float voxel = 0.005;
@@ -620,7 +620,7 @@ int main (int argc, char * argv[])
rtabmap::ParametersMap parameters;
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomMaxDepth(), uNumber2Str(maxDepth)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisMaxDepth(), uNumber2Str(maxDepth)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomResetCountdown(), uNumber2Str(resetCountdown)));
if(!icp)
@@ -630,11 +630,11 @@ int main (int argc, char * argv[])
UINFO("RANSAC iterations = %d", iterations);
UINFO("Max features = %d", maxWords);
UINFO("GPU = %s", gpu?"true":"false");
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomInlierDistance(), uNumber2Str(distance)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomMinInliers(), uNumber2Str(minInliers)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomIterations(), uNumber2Str(iterations)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomMaxFeatures(), uNumber2Str(maxWords)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomFeatureType(), uNumber2Str(odomType)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisInlierDistance(), uNumber2Str(distance)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisMinInliers(), uNumber2Str(minInliers)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisIterations(), uNumber2Str(iterations)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisMaxFeatures(), uNumber2Str(maxWords)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisFeatureType(), uNumber2Str(odomType)));
if(odomType == 0)
{
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kSURFGpuVersion(), uBool2Str(gpu)));
@@ -666,15 +666,15 @@ int main (int argc, char * argv[])
UINFO("Nearest neighbor = %s", nnName.c_str());
UINFO("Nearest neighbor ratio = %f", nndr);
UINFO("Local history = %d", localHistory);
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomBowNNType(), uNumber2Str(nnType)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomBowNNDR(), uNumber2Str(nndr)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisNNType(), uNumber2Str(nnType)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisNNDR(), uNumber2Str(nndr)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomBowLocalHistorySize(), uNumber2Str(localHistory)));
if(mono)
{
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomPnPFlags(), uNumber2Str(0))); //CV_ITERATIVE
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomPnPReprojError(), "4.0"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomIterations(), "100"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisPnPFlags(), uNumber2Str(0))); //CV_ITERATIVE
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisPnPReprojError(), "4.0"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisIterations(), "100"));
odom = new rtabmap::OdometryMono(parameters);
}
else