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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/RegistrationIcp.cpp
+8 -8
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@@ -77,14 +77,14 @@ void RegistrationIcp::parseParameters(const ParametersMap & parameters)
UASSERT_MSG(_pointToPlaneNormalNeighbors > 0, uFormat("value=%d", _pointToPlaneNormalNeighbors).c_str());
}
Transform RegistrationIcp::computeTransformation(
const Signature & fromSignature,
const Signature & toSignature,
Transform RegistrationIcp::computeTransformationMod(
Signature & fromSignature,
Signature & toSignature,
Transform guess,
std::string * rejectedMsg,
int * inliersOut,
std::vector<int> * inliersOut,
float * varianceOut,
float * inliersRatioOut)
float * inliersRatioOut) const
{
return computeTransformation(
fromSignature.sensorData(),
@@ -101,9 +101,9 @@ Transform RegistrationIcp::computeTransformation(
const SensorData & dataTo,
Transform guess,
std::string * rejectedMsg,
int * inliersOut,
std::vector<int> * inliersOut,
float * varianceOut,
float * inliersRatioOut)
float * inliersRatioOut) const
{
UDEBUG("Guess transform = %s", guess.prettyPrint().c_str());
UDEBUG("Voxel size=%f", _voxelSize);
@@ -298,7 +298,7 @@ Transform RegistrationIcp::computeTransformation(
}
if(inliersOut)
{
*inliersOut = correspondences;
inliersOut->push_back(correspondences);
}
if(inliersRatioOut)
{