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 00:37:46 +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

									
										utilite/include/rtabmap/utilite/UStl.h
									
		+1
		-1
	
												View File
												
				@@ -494,7 +494,7 @@ inline std::map<K, V> uMultimapToMapUnique(const std::multimap<K, V> & m)

						if(m.count(*iter) == 1)

						{

							typename std::multimap<K, V>::const_iterator jter=m.find(*iter);

							mapOut.insert(std::pair<K,V>(jter->first, jter->second));

							mapOut.insert(mapOut.end(), std::pair<K,V>(jter->first, jter->second));

						}

					}

					return mapOut;