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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"

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This commit is contained in:
matlabbe
2016-02-22 16:13:14 -05:00
parent 0d68f74d80
commit ccc4b4a6c2
22 changed files with 844 additions and 638 deletions
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4
examples/NoEventsExample/main.cpp
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@@ -27,10 +27,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/Rtabmap.h>
#include <rtabmap/core/CameraStereo.h>
#include <rtabmap/core/OdometryLocalMap.h>
#include <rtabmap/utilite/UThread.h>
#include "MapBuilder.h"
#include <pcl/visualization/cloud_viewer.h>
#include <rtabmap/core/OdometryF2M.h>
#include <QApplication>
#include <stdio.h>
@@ -103,7 +103,7 @@ int main(int argc, char * argv[])
if(camera.init(calibrationDir, calibrationName))
{
OdometryLocalMap odom;
OdometryF2M odom;
Rtabmap rtabmap;
rtabmap.init();

4
examples/RGBDMapping/main.cpp
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@@ -25,11 +25,11 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <rtabmap/core/OdometryF2M.h>
#include "rtabmap/core/Rtabmap.h"
#include "rtabmap/core/RtabmapThread.h"
#include "rtabmap/core/CameraRGBD.h"
#include "rtabmap/core/CameraThread.h"
#include "rtabmap/core/OdometryLocalMap.h"
#include "rtabmap/core/OdometryThread.h"
#include "rtabmap/utilite/UEventsManager.h"
#include <QApplication>
@@ -128,7 +128,7 @@ int main(int argc, char * argv[])
MapBuilder mapBuilder(&cameraThread);
// Create an odometry thread to process camera events, it will send OdometryEvent.
OdometryThread odomThread(new OdometryLocalMap());
OdometryThread odomThread(new OdometryF2M());
// Create RTAB-Map to process OdometryEvent

4
examples/WifiMapping/main.cpp
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@@ -25,11 +25,11 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <rtabmap/core/OdometryF2M.h>
#include "rtabmap/core/Rtabmap.h"
#include "rtabmap/core/RtabmapThread.h"
#include "rtabmap/core/CameraRGBD.h"
#include "rtabmap/core/CameraThread.h"
#include "rtabmap/core/OdometryLocalMap.h"
#include "rtabmap/core/OdometryThread.h"
#include "rtabmap/utilite/UEventsManager.h"
#include <QApplication>
@@ -171,7 +171,7 @@ int main(int argc, char * argv[])
MapBuilderWifi mapBuilderWifi(&cameraThread);
// Create an odometry thread to process camera events, it will send OdometryEvent.
OdometryThread odomThread(new OdometryLocalMap());
OdometryThread odomThread(new OdometryF2M());
// Create RTAB-Map to process OdometryEvent
Rtabmap * rtabmap = new Rtabmap();