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

mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 08:47:45 +08:00

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

									
										corelib/src/Rtabmap.cpp
									
		+1
		-1
	
												View File
												
				@@ -3114,7 +3114,7 @@ void Rtabmap::get3DMap(

							SensorData data = _memory->getNodeData(*iter);

							data.setId(*iter);

							std::multimap<int, cv::KeyPoint> words;

							std::multimap<int, pcl::PointXYZ> words3;

							std::multimap<int, cv::Point3f> words3;

							_memory->getNodeWords(*iter, words, words3);

							signatures.insert(std::make_pair(*iter,

									Signature(*iter,