i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

Using solvePnPRansac() of OpenCV2.4 in OpenCV3 (for some reasons RANSAC is better in OpenCV2.4, tested on Mac OS X). Updated default 3D->3D estimation parameters

Browse Source
This commit is contained in:
matlabbe
2015-10-01 21:00:16 -04:00
parent 0c8309bb28
commit ee76a02117
4 changed files with 410 additions and 73 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
corelib/include/rtabmap/core/Parameters.h
View File

@@ -320,18 +320,18 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Odom, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK.");
RTABMAP_PARAM(Odom, EstimationType, int, 0, "Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP)");
RTABMAP_PARAM(Odom, MaxFeatures, int, 1000, "0 no limits.");
RTABMAP_PARAM(Odom, InlierDistance, float, 0.02, "Maximum distance for visual word correspondences.");
RTABMAP_PARAM(Odom, InlierDistance, float, 0.1, "Maximum distance for visual word correspondences. Used by 3D->3D estimation approach.");
RTABMAP_PARAM(Odom, MinInliers, int, 20, "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, RefineIterations, int, 5, "Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.");
RTABMAP_PARAM(Odom, MaxDepth, float, 4.0, "Max depth of the words (0 means no limit).");
RTABMAP_PARAM(Odom, RefineIterations, int, 5, "Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.");
RTABMAP_PARAM(Odom, MaxDepth, float, 0, "Max depth of the words (0 means no limit).");
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_STR(Odom, RoiRatios, "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
RTABMAP_PARAM(Odom, Force2D, bool, false, "Force 2D transform (3Dof: x,y and yaw).");
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, VarianceFromInliersCount, bool, true, "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.");
@@ -371,7 +371,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(LccBow, EstimationType, int, 0, "Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP), 2:2D->2D (Epipolar Geometry)");
RTABMAP_PARAM(LccBow, MinInliers, int, 10, "Minimum visual word correspondences to compute geometry transform.");
RTABMAP_PARAM(LccBow, InlierDistance, float, 0.05, "Maximum distance for visual word correspondences.");
RTABMAP_PARAM(LccBow, InlierDistance, float, 0.1, "Maximum distance for visual word correspondences. Used by 3D->3D estimation approach.");
RTABMAP_PARAM(LccBow, Iterations, int, 100, "Maximum iterations to compute the transform from visual words.");
RTABMAP_PARAM(LccBow, RefineIterations, int, 10, "Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.");
RTABMAP_PARAM(LccBow, Force2D, bool, false, "Force 2D transform (3Dof: x,y and yaw).");