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New parameters: max accepted ICP translation error, new map on large odometry error

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1126 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-02-19 19:00:38 +00:00
parent 5dbf6678ce
commit b44e01a3bb
8 changed files with 140 additions and 13 deletions
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2
corelib/include/rtabmap/core/Parameters.h
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@@ -204,6 +204,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(RGBD, ScanMatchingSize, int, 0, "Laser scan matching history for odometry correction (laser scans are required). Set to 0 to disable odometry correction.");
RTABMAP_PARAM(RGBD, LinearUpdate, float, 0.0, "Min linear displacement to update the map. Rehearsal is done prior to this, so weights are still updated.");
RTABMAP_PARAM(RGBD, AngularUpdate, float, 0.0, "Min angular displacement to update the map. Rehearsal is done prior to this, so weights are still updated.");
RTABMAP_PARAM(RGBD, NewMapOdomChangeDistance, float, 1, "A new map is created if a change of odometry translation greater than X m is detected (0 m = disabled).");
RTABMAP_PARAM(RGBD, ToroIterations, int, 100, "TORO graph optimization iterations")
// Local loop closure detection
@@ -238,6 +239,7 @@ class RTABMAP_EXP Parameters
// Loop closure constraint
RTABMAP_PARAM(LccIcp, Type, int, 0, "0=No ICP, 1=ICP 3D, 2=ICP 2D");
RTABMAP_PARAM(LccIcp, MaxDistance, float, 0.2, "Maximum ICP correction distance accepted (m).");
RTABMAP_PARAM(LccBow, MinInliers, int, 20, "Minimum visual word correspondences to compute geometry transform.");
RTABMAP_PARAM(LccBow, InlierDistance, float, 0.01, "Maximum distance for visual word correspondences.");

2
corelib/include/rtabmap/core/Rtabmap.h
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@@ -141,7 +141,9 @@ private:
bool _rgbdSlamMode;
float _rgbdLinearUpdate;
float _rgbdAngularUpdate;
float _newMapOdomChangeDistance;
int _globalLoopClosureIcpType;
float _globalLoopClosureIcpMaxDistance;
int _scanMatchingSize;
bool _localLoopClosureDetectionTime;
bool _localLoopClosureDetectionSpace;

3
corelib/include/rtabmap/core/Transform.h
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@@ -52,6 +52,9 @@ public:
Transform translation() const;
void getTranslationAndEulerAngles(float & x, float & y, float & z, float & roll, float & pitch, float & yaw) const;
void getTranslation(float & x, float & y, float & z) const;
float getNorm() const;
float getNormSquared() const;
std::string prettyPrint() const;
Transform operator*(const Transform & t) const;