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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/Transform.cpp
+8 -6
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@@ -67,21 +67,22 @@ Transform::Transform(float x, float y, float z, float roll, float pitch, float y
*this = fromEigen3f(t);
}
Transform::Transform(float x, float y, float z, float qx, float qy, float qz, float qw)
Transform::Transform(float x, float y, float z, float qx, float qy, float qz, float qw) :
data_(cv::Mat::zeros(3,4,CV_32FC1))
{
Eigen::Matrix3f rotation = Eigen::Quaternionf(qw, qx, qy, qz).toRotationMatrix();
data()[0] = rotation(0,0);
data()[1] = rotation(0,1);
data()[2] = rotation(0,2);
data()[3] = 0.0f;
data()[3] = x;
data()[4] = rotation(1,0);
data()[5] = rotation(1,1);
data()[6] = rotation(1,2);
data()[7] = 0.0f;
data()[7] = y;
data()[8] = rotation(2,0);
data()[9] = rotation(2,1);
data()[10] = rotation(2,2);
data()[11] = 0.0f;
data()[11] = z;
}
Transform::Transform(float x, float y, float theta)
@@ -92,7 +93,8 @@ Transform::Transform(float x, float y, float theta)
bool Transform::isNull() const
{
return (data()[0] == 0.0f &&
return (data_.empty() ||
(data()[0] == 0.0f &&
data()[1] == 0.0f &&
data()[2] == 0.0f &&
data()[3] == 0.0f &&
@@ -115,7 +117,7 @@ bool Transform::isNull() const
uIsNan(data()[8]) ||
uIsNan(data()[9]) ||
uIsNan(data()[10]) ||
uIsNan(data()[11]);
uIsNan(data()[11]));
}
bool Transform::isIdentity() const