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3D->3D estimation refining: using 3x sqrt(variance) instead of sqrt(9x variance). GUI: added features cloud rendering option. CloudViewer: fixed slow updateCameraTargetPosition()

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matlabbe
2016-03-01 17:33:27 -05:00
parent a89b8cb4fe
commit b6fb947310
12 changed files with 354 additions and 102 deletions
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21
corelib/include/rtabmap/core/OdometryInfo.h
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@@ -52,6 +52,27 @@ public:
distanceTravelled(0.0f),
type(0)
{}
OdometryInfo copyWithoutData() const
{
OdometryInfo output;
output.lost = lost;
output.matches = matches;
output.inliers = inliers;
output.icpInliersRatio = icpInliersRatio;
output.variance = variance;
output.features = features;
output.localMapSize = localMapSize;
output.timeEstimation = timeEstimation;
output.timeParticleFiltering = timeParticleFiltering;
output.stamp = stamp;
output.transform = transform;
output.transformFiltered = transformFiltered;
output.transformGroundTruth = transformGroundTruth;
output.distanceTravelled = distanceTravelled;
return output;
}
bool lost;
int matches;
int inliers;

2
corelib/include/rtabmap/core/Parameters.h
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@@ -382,7 +382,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Vis, EstimationType, int, 0, "Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP), 2:2D->2D (Epipolar Geometry)");
RTABMAP_PARAM(Vis, ForwardEstOnly, bool, true, "Forward estimation only (A->B). If false, a transformation is also computed in backward direction (B->A), then the two resulting transforms are merged (middle interpolation between the transforms).");
RTABMAP_PARAM(Vis, InlierDistance, float, 0.1, "[Vis/EstimationType = 0] Maximum distance for feature correspondences. Used by 3D->3D estimation approach.");
RTABMAP_PARAM(Vis, RefineIterations, int, 10, "[Vis/EstimationType = 0] Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.");
RTABMAP_PARAM(Vis, RefineIterations, int, 5, "[Vis/EstimationType = 0] Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.");
RTABMAP_PARAM(Vis, PnPReprojError, float, 2.0, "[Vis/EstimationType = 1] PnP reprojection error.");
RTABMAP_PARAM(Vis, PnPFlags, int, 1, "[Vis/EstimationType = 1] PnP flags: 0=Iterative, 1=EPNP, 2=P3P");
#ifdef RTABMAP_OPENCV3