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Merge branch 'master' of github.com:introlab/rtabmap

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matlabbe
2015-09-29 23:48:21 -04:00
parent fccaa11de1 bf0790f3b9
commit e193aed720
7 changed files with 54 additions and 14 deletions
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3
corelib/include/rtabmap/core/OdometryThread.h
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@@ -41,7 +41,7 @@ class Odometry;
class RTABMAP_EXP OdometryThread : public UThread, public UEventsHandler {
public:
// take ownership of Odometry
OdometryThread(Odometry * odometry, unsigned int dataBufferMaxSize = 1);
OdometryThread(Odometry * odometry, unsigned int dataBufferMaxSize = 1, bool varianceFromInliersCount = false);
virtual ~OdometryThread();
protected:
@@ -63,6 +63,7 @@ private:
std::list<SensorData> _dataBuffer;
Odometry * _odometry;
unsigned int _dataBufferMaxSize;
bool _varianceFromInliersCount;
bool _resetOdometry;
};

3
corelib/include/rtabmap/core/Parameters.h
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@@ -207,7 +207,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Kp, IncrementalDictionary, bool, true, "");
RTABMAP_PARAM(Kp, IncrementalFlann, bool, true, "When using FLANN based strategy, add/remove points to its index without always rebuilding the index (the index is built only when the dictionary doubles in size).");
RTABMAP_PARAM(Kp, MaxDepth, float, 0.0, "Filter extracted keypoints by depth (0=inf)");
RTABMAP_PARAM(Kp, WordsPerImage, int, 400, "");
RTABMAP_PARAM(Kp, WordsPerImage, int, 400, "Maximum features extracted from the images (0 means not bounded, <0 means no extraction).");
RTABMAP_PARAM(Kp, BadSignRatio, float, 0.2, "Bad signature ratio (less than Ratio x AverageWordsPerImage = bad).");
RTABMAP_PARAM_COND(Kp, NndrRatio, float, RTABMAP_NONFREE, 0.8, 0.9, "NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)");
RTABMAP_PARAM_COND(Kp, DetectorStrategy, int, RTABMAP_NONFREE, 0, 2, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK.");
@@ -331,6 +331,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Odom, Holonomic, bool, true, "If the robot is holonomic (strafing commands can be issued). If not, y value will be estimated from x and yaw values (y=x*tan(yaw)).");
RTABMAP_PARAM(Odom, FillInfoData, bool, true, "Fill info with data (inliers/outliers features).");
RTABMAP_PARAM(Odom, ImageBufferSize, unsigned int, 1, "Data buffer size (0 min inf).");
RTABMAP_PARAM(Odom, VarianceFromInliersCount, bool, false, "Set variance as the inverse of the number of inliers. Otherwise, the variance is computed as the average 3D position error of the inliers.");
RTABMAP_PARAM(Odom, PnPReprojError, double, 5.0, "PnP reprojection error.");
RTABMAP_PARAM(Odom, PnPFlags, int, 1, "PnP flags: 0=Iterative, 1=EPNP, 2=P3P");
RTABMAP_PARAM(Odom, ParticleFiltering, bool, false, "Particle filtering to smooth the odometry trajectory.");