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Merge branch '0.11.0' of github.com:introlab/rtabmap into 0.11.0

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matlabbe
2016-01-05 16:37:27 -05:00
parent 703b7181d9 389d29ebf5
commit c064e373e9
11 changed files with 20 additions and 15 deletions
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4
corelib/include/rtabmap/core/Registration.h
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@@ -28,12 +28,14 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#ifndef REGISTRATION_H_
#define REGISTRATION_H_
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include <rtabmap/core/Parameters.h>
#include <rtabmap/core/Signature.h>
namespace rtabmap {
class Registration
class RTABMAP_EXP Registration
{
public:
virtual ~Registration() {}

4
corelib/include/rtabmap/core/RegistrationIcp.h
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@@ -28,13 +28,15 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#ifndef REGISTRATIONICP_H_
#define REGISTRATIONICP_H_
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include <rtabmap/core/Registration.h>
#include <rtabmap/core/Signature.h>
namespace rtabmap {
// Geometrical registration
class RegistrationIcp : public Registration
class RTABMAP_EXP RegistrationIcp : public Registration
{
public:
RegistrationIcp(const ParametersMap & parameters = ParametersMap());

4
corelib/include/rtabmap/core/RegistrationVis.h
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@@ -28,13 +28,15 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#ifndef REGISTRATIONVIS_H_
#define REGISTRATIONVIS_H_
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include <rtabmap/core/Registration.h>
#include <rtabmap/core/Signature.h>
namespace rtabmap {
// Visual registration
class RegistrationVis : public Registration
class RTABMAP_EXP RegistrationVis : public Registration
{
public:
RegistrationVis(const ParametersMap & parameters = ParametersMap());

4
corelib/src/Features2d.cpp
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@@ -376,9 +376,9 @@ void Feature2D::parseParameters(const ParametersMap & parameters)
{
std::vector<float> tmpValues(4);
unsigned int i=0;
for(std::list<std::string>::iterator iter = strValues.begin(); iter!=strValues.end(); ++iter)
for(std::list<std::string>::iterator jter = strValues.begin(); jter!=strValues.end(); ++jter)
{
tmpValues[i] = uStr2Float(*iter);
tmpValues[i] = uStr2Float(*jter);
++i;
}

2
corelib/src/Graph.cpp
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@@ -192,7 +192,7 @@ bool importPoses(
std::string str;
std::getline(file, str);
if(str.front() == '#' || str.empty())
if(str.at(0) == '#' || str.empty())
{
continue;
}

8
corelib/src/RegistrationVis.cpp
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@@ -209,11 +209,11 @@ Transform RegistrationVis::computeTransformationMod(
// just some checks to make sure that input data are ok
UASSERT((fromSignature.getWords().empty() && fromSignature.getWords3().empty())||
(fromSignature.getWords().size() == fromSignature.getWords3().size()));
UASSERT(fromSignature.sensorData().keypoints().size() == fromSignature.sensorData().descriptors().rows ||
UASSERT((int)fromSignature.sensorData().keypoints().size() == fromSignature.sensorData().descriptors().rows ||
fromSignature.sensorData().descriptors().rows == 0);
UASSERT((toSignature.getWords().empty() && toSignature.getWords3().empty())||
(toSignature.getWords().size() == toSignature.getWords3().size()));
UASSERT(toSignature.sensorData().keypoints().size() == toSignature.sensorData().descriptors().rows ||
UASSERT((int)toSignature.sensorData().keypoints().size() == toSignature.sensorData().descriptors().rows ||
toSignature.sensorData().descriptors().rows == 0);
UASSERT(fromSignature.sensorData().imageRaw().type() == CV_8UC1 ||
fromSignature.sensorData().imageRaw().type() == CV_8UC3);
@@ -405,7 +405,7 @@ Transform RegistrationVis::computeTransformationMod(
UDEBUG("kptsTo=%d", (int)kptsTo.size());
cv::Mat descriptorsFrom;
cv::Mat descriptorsTo;
if(fromSignature.getWords().empty() && fromSignature.sensorData().descriptors().rows == kptsFrom.size())
if(fromSignature.getWords().empty() && fromSignature.sensorData().descriptors().rows == (int)kptsFrom.size())
{
descriptorsFrom = fromSignature.sensorData().descriptors();
}
@@ -413,7 +413,7 @@ Transform RegistrationVis::computeTransformationMod(
{
descriptorsFrom = detector->generateDescriptors(fromSignature.sensorData().imageRaw(), kptsFrom);
}
if(toSignature.getWords().empty() && toSignature.sensorData().descriptors().rows == kptsTo.size())
if(toSignature.getWords().empty() && toSignature.sensorData().descriptors().rows == (int)kptsTo.size())
{
descriptorsTo = toSignature.sensorData().descriptors();
}

3
corelib/src/util2d.cpp
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@@ -161,7 +161,6 @@ std::vector<cv::Point2f> calcStereoCorrespondences(
{
int oi=0;
float bestScore = -1.0f;
float secondBest = -1.0f;
int bestScoreIndex = -1;
int tmpMinDisparity = minDisparity;
int tmpMaxDisparity = maxDisparity;
@@ -175,7 +174,6 @@ std::vector<cv::Point2f> calcStereoCorrespondences(
oi=0;
bestScore = -1.0f;
secondBest = -1.0f;
bestScoreIndex = -1;
int localMaxDisparity = -tmpMaxDisparity / (1<<level);
int localMinDisparity = -tmpMinDisparity / (1<<level);
@@ -214,7 +212,6 @@ std::vector<cv::Point2f> calcStereoCorrespondences(
scores[oi] = ssdApproach?ssd(windowLeft, windowRight):sad(windowLeft, windowRight);
if(scores[oi] > 0 && (bestScore < 0.0f || scores[oi] < bestScore))
{
secondBest = bestScore;
bestScoreIndex = oi;
bestScore = scores[oi];
}

2
corelib/src/util3d_features.cpp
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@@ -362,7 +362,7 @@ std::map<int, cv::Point3f> generateWords3DMono(
int oi=0;
for(unsigned int i=0; i<indexes.size(); ++i)
{
std::multimap<int, cv::Point3f>::iterator iter = words3D.find(indexes[i]);
std::map<int, cv::Point3f>::iterator iter = words3D.find(indexes[i]);
if(util3d::isFinite(iter->second))
{
iter->second.x *= scale;