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Added a quality odometry threshold, turning the background yellow when the mapping area has too low features

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1334 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-06 18:06:49 +00:00
parent 363901cfe4
commit df0f9d60d5
12 changed files with 191 additions and 55 deletions
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15
corelib/include/rtabmap/core/Odometry.h
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@@ -34,7 +34,7 @@ class RTABMAP_EXP Odometry
{
public:
virtual ~Odometry() {}
Transform process(Image & image);
Transform process(Image & image, int * quality = 0);
virtual void reset();
bool isLargeEnoughTransform(const Transform & transform);
@@ -44,18 +44,20 @@ public:
int getMinInliers() const {return _minInliers;}
float getInlierDistance() const {return _inlierDistance;}
int getIterations() const {return _iterations;}
float getWordsRatio() const {return _wordsRatio;}
float getMaxDepth() const {return _maxDepth;}
float geLinearUpdate() const {return _linearUpdate;}
float getAngularUpdate() const {return _angularUpdate;}
private:
virtual Transform computeTransform(Image & image) = 0;
virtual Transform computeTransform(Image & image, int * quality = 0) = 0;
private:
int _maxFeatures;
int _minInliers;
float _inlierDistance;
int _iterations;
float _wordsRatio;
float _maxDepth;
float _linearUpdate;
float _angularUpdate;
@@ -68,6 +70,7 @@ protected:
int maxWords = Parameters::defaultOdomMaxWords(),
int minInliers = Parameters::defaultOdomMinInliers(),
int iterations = Parameters::defaultOdomIterations(),
float wordsRatio = Parameters::defaultOdomWordsRatio(),
float maxDepth = Parameters::defaultOdomMaxDepth(),
float linearUpdate = Parameters::defaultOdomLinearUpdate(),
float angularUpdate = Parameters::defaultOdomAngularUpdate(),
@@ -83,6 +86,7 @@ public:
int maxWords = Parameters::defaultOdomMaxWords(),
int minInliers = Parameters::defaultOdomMinInliers(),
int iterations = Parameters::defaultOdomIterations(),
float wordsRatio = Parameters::defaultOdomWordsRatio(),
float maxDepth = Parameters::defaultOdomMaxDepth(),
float linearUpdate = Parameters::defaultOdomLinearUpdate(),
float angularUpdate = Parameters::defaultOdomAngularUpdate(),
@@ -96,7 +100,7 @@ public:
virtual void reset();
private:
virtual Transform computeTransform(Image & image);
virtual Transform computeTransform(Image & image, int * quality = 0);
private:
int _briefBytes;
@@ -120,6 +124,7 @@ public:
int maxWords = Parameters::defaultOdomMaxWords(),
int minInliers = Parameters::defaultOdomMinInliers(),
int iterations = Parameters::defaultOdomIterations(),
float wordsRatio = Parameters::defaultOdomWordsRatio(),
float maxDepth = Parameters::defaultOdomMaxDepth(),
float linearUpdate = Parameters::defaultOdomLinearUpdate(),
float angularUpdate = Parameters::defaultOdomAngularUpdate(),
@@ -132,7 +137,7 @@ public:
virtual void reset();
private:
virtual Transform computeTransform(Image & image);
virtual Transform computeTransform(Image & image, int * quality = 0);
private:
Memory * _memory;
@@ -156,7 +161,7 @@ public:
void reset();
private:
virtual Transform computeTransform(Image & image);
virtual Transform computeTransform(Image & image, int * quality = 0);
private:
int _decimation;

7
corelib/include/rtabmap/core/OdometryEvent.h
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@@ -17,16 +17,19 @@ class OdometryEvent : public UEvent
{
public:
OdometryEvent(
const Image & data) :
_data(data) {}
const Image & data, int quality = 0) :
_data(data),
_quality(quality) {}
virtual ~OdometryEvent() {}
virtual std::string getClassName() const {return "OdometryEvent";}
bool isValid() const {return !_data.pose().isNull();}
const Image & data() const {return _data;}
int quality() const {return _quality;}
private:
Image _data;
int _quality;
};
class OdometryResetEvent : public UEvent

1
corelib/include/rtabmap/core/Parameters.h
View File

@@ -224,6 +224,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Odom, MinInliers, int, 10, "Minimum visual word correspondences to compute geometry transform.");
RTABMAP_PARAM(Odom, Iterations, int, 100, "Maximum iterations to compute the transform from visual words.");
RTABMAP_PARAM(Odom, MaxDepth, float, 5.0, "Max depth of the words (0 means no limit).");
RTABMAP_PARAM(Odom, WordsRatio, float, 0.5, "Minmum ratio of keypoints between the current image and the last image to compute odometry.");
RTABMAP_PARAM(Odom, ResetCountdown, int, 0, "Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset).")
RTABMAP_PARAM(OdomBin, BriefBytes, int, 32, "");