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Added LccBow/VarianceFromInliersCount parameter (linked with Odom/VarianceFromInliersCount in standalone gui)

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matlabbe
2015-10-02 10:40:18 -04:00
parent ee76a02117
commit fbf967066a
13 changed files with 117 additions and 78 deletions
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corelib/src/Odometry.cpp
+7
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@@ -54,6 +54,7 @@ Odometry::Odometry(const rtabmap::ParametersMap & parameters) :
_estimationType(Parameters::defaultOdomEstimationType()),
_pnpReprojError(Parameters::defaultOdomPnPReprojError()),
_pnpFlags(Parameters::defaultOdomPnPFlags()),
_varianceFromInliersCount(Parameters::defaultOdomVarianceFromInliersCount()),
_resetCurrentCount(0),
previousStamp_(0),
previousTransform_(Transform::getIdentity()),
@@ -73,6 +74,7 @@ Odometry::Odometry(const rtabmap::ParametersMap & parameters) :
Parameters::parse(parameters, Parameters::kOdomPnPReprojError(), _pnpReprojError);
Parameters::parse(parameters, Parameters::kOdomPnPFlags(), _pnpFlags);
UASSERT(_pnpFlags>=0 && _pnpFlags <=2);
Parameters::parse(parameters, Parameters::kOdomVarianceFromInliersCount(), _varianceFromInliersCount);
Parameters::parse(parameters, Parameters::kOdomParticleFiltering(), _particleFiltering);
Parameters::parse(parameters, Parameters::kOdomParticleSize(), _particleSize);
Parameters::parse(parameters, Parameters::kOdomParticleNoiseT(), _particleNoiseT);
@@ -269,6 +271,11 @@ Transform Odometry::process(const SensorData & data, OdometryInfo * info)
{
distanceTravelled_ += t.getNorm();
info->distanceTravelled = distanceTravelled_;
if(_varianceFromInliersCount)
{
info->variance = info->inliers > 0?1.0/double(info->inliers):1.0;
}
}
return _pose *= t; // updated