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using map instead of multimap for motion estimation methods (only unique words were used)

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This commit is contained in:
matlabbe
2015-07-28 23:48:50 -04:00
parent a4039241c5
commit b686103765
14 changed files with 121 additions and 84 deletions
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6
corelib/include/rtabmap/core/Odometry.h
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@@ -109,7 +109,7 @@ public:
virtual ~OdometryBOW();
virtual void reset(const Transform & initialPose = Transform::getIdentity());
const std::multimap<int, pcl::PointXYZ> & getLocalMap() const {return localMap_;}
const std::map<int, pcl::PointXYZ> & getLocalMap() const {return localMap_;}
const Memory * getMemory() const {return _memory;}
private:
@@ -121,7 +121,7 @@ private:
std::string _fixedLocalMapPath;
Memory * _memory;
std::multimap<int, pcl::PointXYZ> localMap_;
std::map<int, pcl::PointXYZ> localMap_;
};
class RTABMAP_EXP OdometryOpticalFlow : public Odometry
@@ -195,7 +195,7 @@ private:
cv::Mat refDepthOrRight_;
std::map<int, cv::Point2f> cornersMap_;
std::multimap<int, cv::Point3f> localMap_;
std::map<int, cv::Point3f> localMap_;
std::map<int, std::multimap<int, pcl::PointXYZ> > keyFrameWords3D_;
std::map<int, Transform> keyFramePoses_;
float maxVariance_;

2
corelib/include/rtabmap/core/OdometryInfo.h
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@@ -68,7 +68,7 @@ public:
std::multimap<int, cv::KeyPoint> words;
std::vector<int> wordMatches;
std::vector<int> wordInliers;
std::multimap<int, cv::Point3f> localMap;
std::map<int, cv::Point3f> localMap;
// Optical Flow odometry
std::vector<cv::Point2f> refCorners;

8
corelib/include/rtabmap/core/util3d_correspondences.h
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@@ -57,6 +57,14 @@ void RTABMAP_EXP findCorrespondences(
float maxDepth,
std::vector<int> * uniqueCorrespondences = 0);
void RTABMAP_EXP findCorrespondences(
const std::map<int, pcl::PointXYZ> & words1,
const std::map<int, pcl::PointXYZ> & words2,
pcl::PointCloud<pcl::PointXYZ> & inliers1,
pcl::PointCloud<pcl::PointXYZ> & inliers2,
float maxDepth,
std::vector<int> * correspondences = 0);
// remove depth by z axis
void RTABMAP_EXP extractXYZCorrespondences(const std::multimap<int, pcl::PointXYZ> & words1,
const std::multimap<int, pcl::PointXYZ> & words2,

14
corelib/include/rtabmap/core/util3d_motion_estimation.h
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@@ -41,23 +41,23 @@ namespace rtabmap
namespace util3d
{
Transform estimateMotion3DTo2D(
const std::multimap<int, pcl::PointXYZ> & words3A,
const std::multimap<int, cv::KeyPoint> & words2B,
Transform RTABMAP_EXP estimateMotion3DTo2D(
const std::map<int, pcl::PointXYZ> & words3A,
const std::map<int, cv::KeyPoint> & words2B,
const CameraModel & cameraModel,
int minInliers = 10,
int iterations = 100,
double reprojError = 5.,
int flagsPnP = 0,
const Transform & guess = Transform::getIdentity(),
const std::multimap<int, pcl::PointXYZ> & words3B = std::multimap<int, pcl::PointXYZ>(),
const std::map<int, pcl::PointXYZ> & words3B = std::map<int, pcl::PointXYZ>(),
double * varianceOut = 0,
std::vector<int> * matchesOut = 0,
std::vector<int> * inliersOut = 0);
Transform estimateMotion3DTo3D(
const std::multimap<int, pcl::PointXYZ> & words3A,
const std::multimap<int, pcl::PointXYZ> & words3B,
Transform RTABMAP_EXP estimateMotion3DTo3D(
const std::map<int, pcl::PointXYZ> & words3A,
const std::map<int, pcl::PointXYZ> & words3B,
int minInliers = 10,
double inliersDistance = 0.1,
int iterations = 100,