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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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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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10
tools/OdometryViewer/main.cpp
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@@ -29,7 +29,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UEventsManager.h>
#include <rtabmap/utilite/UFile.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/core/OdometryLocalMap.h>
#include <rtabmap/core/OdometryF2F.h>
#include <rtabmap/core/OdometryMono.h>
#include <rtabmap/core/OdometryThread.h>
@@ -42,6 +41,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QApplication>
#include <QPushButton>
#include <pcl/console/print.h>
#include <rtabmap/core/OdometryF2M.h>
void showUsage()
{
@@ -121,7 +121,7 @@ int main (int argc, char * argv[])
int fastThr = rtabmap::Parameters::defaultFASTThreshold();
float sec = 0.0f;
bool gpu = false;
int localHistory = rtabmap::Parameters::defaultOdomLocalMapHistorySize();
int localHistory = rtabmap::Parameters::defaultOdomF2MMaxSize();
bool p2p = false;
for(int i=1; i<argc; ++i)
@@ -646,13 +646,13 @@ int main (int argc, char * argv[])
}
else
{
//BOW
//Frame to Map
UINFO("Nearest neighbor = %s", nnName.c_str());
UINFO("Nearest neighbor ratio = %f", nndr);
UINFO("Local history = %d", localHistory);
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisCorNNType(), uNumber2Str(nnType)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisCorNNDR(), uNumber2Str(nndr)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomLocalMapHistorySize(), uNumber2Str(localHistory)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomF2MMaxSize(), uNumber2Str(localHistory)));
if(mono)
{
@@ -663,7 +663,7 @@ int main (int argc, char * argv[])
}
else
{
odom = new rtabmap::OdometryLocalMap(parameters);
odom = new rtabmap::OdometryF2M(parameters);
}
}
}