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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/util3d_transforms.cpp
+10
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@@ -68,6 +68,16 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr transformPointCloud(
return output;
}
cv::Point3f transformPoint(
const cv::Point3f & point,
const Transform & transform)
{
cv::Point3f ret = point;
ret.x = transform (0, 0) * point.x + transform (0, 1) * point.y + transform (0, 2) * point.z + transform (0, 3);
ret.y = transform (1, 0) * point.x + transform (1, 1) * point.y + transform (1, 2) * point.z + transform (1, 3);
ret.z = transform (2, 0) * point.x + transform (2, 1) * point.y + transform (2, 2) * point.z + transform (2, 3);
return ret;
}
pcl::PointXYZ transformPoint(
const pcl::PointXYZ & pt,
const Transform & transform)