Parameters renamed: "OdomLocalMap" group is now "OdomF2M" for Frame to Map odometry. Visual registration feature matching: using guess transform to limit the radius of correspondences "Vis/CorGuessWinSize=16"

corelib/include/rtabmap/core/RegistrationVis.h

@@ -35,6 +35,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 namespace rtabmap {
 
+class Feature2D;
+
 // Visual registration
 class RTABMAP_EXP RegistrationVis : public Registration
 {
@@ -49,6 +51,8 @@ public:
 	int getIterations() const {return _iterations;}
 	int getMinInliers() const {return _minInliers;}
 
+	Feature2D * createFeatureDetector() const; // for convenience
+
 protected:
 	virtual Transform computeTransformationImpl(
 			Signature & from,
@@ -75,6 +79,8 @@ private:
 	int _flowIterations;
 	float _flowEps;
 	int _flowMaxLevel;
+	float _nndr;
+	int _guessWinSize;
 	bool _useDepthAsMask;
 
 	ParametersMap _featureParameters;