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matlabbe
977d21eed5
Parameters: -Added "GridGlobal/MaxNodes=0", "Rtabmap/PublishRAMUsage=false", "Mem/DepthAsMask=true", "Kp/FlannRebalancingFactor=2.0", "Vis/DepthAsMask=true". -Modified "Kp/DetectorStrategy=6", "Kp/MaxFeatures=500", "Mem/UseOdomFeatures=true", "GFTT/QualityLevel=0.001", "GFTT/MinDistance=3", "RGBD/OptimizeMaxError=1", "RGBD/ProximityPathFilteringRadius=1", "Odom/GuessMotion=true", "Odom/VisKeyFrameThr=150", "OdomF2M/BundleAdjustment=1", "Vis/Iterations=300" if built with g2o, "OdomF2M/BundleAdjustmentMaxFrames=10", "OdomFovis/MinFeaturesForEstimate=20", "OdomORBSLAM2/MapSize=3000", "Reg/RepeatOnce=true", "Vis/PnPRefineIterations=0" if built with g2o, "Vis/CorGuessMatchToProjection=true", "Vis/BundleAdjustment=1" if built with g2o, "Icp/MaxCorrespondenceDistance=0.1", "Icp/PointToPlaneK=5", "Icp/PointToPlaneRadius=1", "Icp/PM=true" if built with libpointmatcher, "Stereo/MaxLevel=5", "Stereo/MinDisparity=0.5". BayesFilter: optimized prediction matrix update. Use of new argument "ignoreLocalSpaceLoopIds" of Memory::getNeighborsId() to ignore loop closure link by space in prediction update. CameraThread: Added stereo exposure compensation option. CameraRGB: Added forceGroundNormalsUp option and added support of ground truth from EuRoC dataset. Statistics: Added "Memory/RAM_usage/MB". Transform: Added clone() method to do deep copy. Graph::importPoses(): EuRoC format support (9). Rtabmap: Local visual loop closures are now identified as GlobalClosure link type. OccupancyGrid/OctoMap: updated how cache is used (old node retrieved can be re-added to map without re-assembling the whole map). OdometryF2F: when using ICP, increasing correspondence distance for first two frames. If Vis/CorType=1 and registration fails, second guess without motion is done with Vis/CorType=0. OdometryF2M/RegVis: updated how features are removed from the map, using new projectedIDs filled in RegistrationInfo by RegistrationVis. OdometryORBSLAM2: Maximum size of the feature map can be set with "OdomORBSLAM2/MapSize" parameter. CloudViewer: fixed opengl camera drifting in follow mode. DatabaseViewer: Added optimization scale option. ConstraintsView: hide loop closure links if type is ignored in gui parameters. MainWindow: Support of "GridGlobal/MaxNodes" parameters when updating the maps. UPlot: don't show ellipses when not in graphics view mode, updated how "random" colors are attributed to curves Added rtabmap-euroc_dataset tool. Updated rtabmap-kitti_dataset and rtabmap-rgbd_dataset tools. Added rtabmap-reprocess tool.
82 lines
2.9 KiB
C++
82 lines
2.9 KiB
C++
/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef REGISTRATIONICP_H_
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#define REGISTRATIONICP_H_
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#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
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#include <rtabmap/core/Registration.h>
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#include <rtabmap/core/Signature.h>
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namespace rtabmap {
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// Geometrical registration
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class RTABMAP_EXP RegistrationIcp : public Registration
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{
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public:
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// take ownership of child
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RegistrationIcp(const ParametersMap & parameters = ParametersMap(), Registration * child = 0);
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virtual ~RegistrationIcp();
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virtual void parseParameters(const ParametersMap & parameters);
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protected:
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virtual Transform computeTransformationImpl(
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Signature & from,
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Signature & to,
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Transform guess,
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RegistrationInfo & info) const;
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virtual bool isScanRequiredImpl() const {return true;}
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virtual bool canUseGuessImpl() const {return true;}
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virtual float getMinGeometryCorrespondencesRatioImpl() const {return _correspondenceRatio;}
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private:
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float _maxTranslation;
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float _maxRotation;
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float _voxelSize;
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int _downsamplingStep;
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float _maxCorrespondenceDistance;
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int _maxIterations;
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float _epsilon;
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float _correspondenceRatio;
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bool _pointToPlane;
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int _pointToPlaneK;
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float _pointToPlaneRadius;
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float _pointToPlaneMinComplexity;
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bool _libpointmatcher;
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std::string _libpointmatcherConfig;
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int _libpointmatcherKnn;
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float _libpointmatcherEpsilon;
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float _libpointmatcherOutlierRatio;
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void * _libpointmatcherICP;
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};
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}
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#endif /* REGISTRATIONICP_H_ */
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