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Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.

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Added Feature2D::generateKeypoints3D() for convenience.
Added parameter "Vis/PnPOpenCV2".
Added parameter "Vis/ForwardEstOnly".
Removed OdometryOpticalFlow class, replaced by OdometryF2F (frame-to-frame). To get the same previous OpticalFLow approach, parameter "Vis/CorType" should be set to 1.
Some parameters under group "OdomFlow/..." are now under "Vis/CorFlow...".
In Registration class, add computeTransformationMod() method to modify input signatures.
Added constructor Signature(SensorData) for convenience.
Modified words multimap used with cv::Point3f instead of pcl::PointXYZ to limit the use of PCL headers where they are not really required.
Added Stereo::create() for convenience.
Transform: fixed quaternion constructor where data_ was not initialized. Added parentheses operator for convenience.
DatabaseViewer: loading .rtabmap/rtabmap.ini instead of .rtabmap/dbViewer.ini when used from rtabmap application. Added vertical layout option for convenience.
MainWindow: fixed wrong Odometry speed values
ParametersToolBox: using QStackedWidget instead of a QToolBox for space, added "Restore Defaults" button.
This commit is contained in:
matlabbe
2015-12-21 17:27:05 -05:00
parent 3292fb1146
commit 2e9634cf65
54 changed files with 2838 additions and 2725 deletions
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corelib/src/EpipolarGeometry.cpp
+23
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@@ -406,6 +406,29 @@ cv::Mat EpipolarGeometry::findFFromCalibratedStereoCameras(double fx, double fy,
return K.inv().t()*E*K.inv();
}
/**
* if a=[1 2 3 4 6], b=[1 2 4 5 6], results= [(1,1) (2,2) (4,4) (6,6)]
* realPairsCount = 4
*/
int EpipolarGeometry::findPairs(
const std::map<int, cv::KeyPoint> & wordsA,
const std::map<int, cv::KeyPoint> & wordsB,
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs)
{
int realPairsCount = 0;
pairs.clear();
for(std::map<int, cv::KeyPoint>::const_iterator i=wordsA.begin(); i!=wordsA.end(); ++i)
{
std::map<int, cv::KeyPoint>::const_iterator ptB = wordsB.find(i->first);
if(ptB != wordsB.end())
{
pairs.push_back(std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> >(i->first, std::pair<cv::KeyPoint, cv::KeyPoint>(i->second, ptB->second)));
++realPairsCount;
}
}
return realPairsCount;
}
/**
* if a=[1 2 3 4 6 6], b=[1 1 2 4 5 6 6], results= [(1,1a) (2,2) (4,4) (6a,6a) (6b,6b)]
* realPairsCount = 5