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Updated OdometryROS with rtabmap library updates

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matlabbe
2015-11-26 13:35:21 -05:00
parent 82e9e9c806
commit 50580d59e1
2 changed files with 3 additions and 37 deletions
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src/OdometryROS.cpp
+3 -36
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@@ -124,14 +124,14 @@ OdometryROS::OdometryROS(int argc, char * argv[], bool stereo) :
//parameters //parameters
parameters_ = this->getDefaultOdometryParameters(stereo); parameters_ = Parameters::getDefaultOdometryParameters(stereo);
if(!configPath.empty()) if(!configPath.empty())
{ {
if(UFile::exists(configPath.c_str())) if(UFile::exists(configPath.c_str()))
{ {
ROS_INFO("Odometry: Loading parameters from %s", configPath.c_str()); ROS_INFO("Odometry: Loading parameters from %s", configPath.c_str());
rtabmap::ParametersMap allParameters; rtabmap::ParametersMap allParameters;
Rtabmap::readParameters(configPath.c_str(), allParameters); Parameters::readINI(configPath.c_str(), allParameters);
// only update odometry parameters // only update odometry parameters
for(ParametersMap::iterator iter=parameters_.begin(); iter!=parameters_.end(); ++iter) for(ParametersMap::iterator iter=parameters_.begin(); iter!=parameters_.end(); ++iter)
{ {
@@ -251,46 +251,13 @@ OdometryROS::~OdometryROS()
delete odometry_; delete odometry_;
} }
rtabmap::ParametersMap OdometryROS::getDefaultOdometryParameters(bool stereo)
{
rtabmap::ParametersMap odomParameters;
rtabmap::ParametersMap defaultParameters = rtabmap::Parameters::getDefaultParameters();
for(rtabmap::ParametersMap::iterator iter=defaultParameters.begin(); iter!=defaultParameters.end(); ++iter)
{
std::string group = uSplit(iter->first, '/').front();
if(uStrContains(group, "Odom") ||
(stereo && group.compare("Stereo") == 0) ||
group.compare("SURF") == 0 ||
group.compare("SIFT") == 0 ||
group.compare("ORB") == 0 ||
group.compare("FAST") == 0 ||
group.compare("FREAK") == 0 ||
group.compare("BRIEF") == 0 ||
group.compare("GFTT") == 0 ||
group.compare("BRISK") == 0 ||
group.compare("Reg") == 0 ||
group.compare("Vis") == 0)
{
if(stereo)
{
if(iter->first.compare(Parameters::kVisEstimationType()) == 0)
{
iter->second = "1"; // 3D->2D (PNP)
}
}
odomParameters.insert(*iter);
}
}
return odomParameters;
}
void OdometryROS::processArguments(int argc, char * argv[], bool stereo) void OdometryROS::processArguments(int argc, char * argv[], bool stereo)
{ {
for(int i=1;i<argc;++i) for(int i=1;i<argc;++i)
{ {
if(strcmp(argv[i], "--params") == 0) if(strcmp(argv[i], "--params") == 0)
{ {
rtabmap::ParametersMap parametersOdom = getDefaultOdometryParameters(stereo); rtabmap::ParametersMap parametersOdom = Parameters::getDefaultOdometryParameters(stereo);
for(rtabmap::ParametersMap::iterator iter=parametersOdom.begin(); iter!=parametersOdom.end(); ++iter) for(rtabmap::ParametersMap::iterator iter=parametersOdom.begin(); iter!=parametersOdom.end(); ++iter)
{ {
std::string str = "Param: " + iter->first + " = \"" + iter->second + "\""; std::string str = "Param: " + iter->first + " = \"" + iter->second + "\"";
src/OdometryROS.h
-1
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@@ -49,7 +49,6 @@ namespace rtabmap_ros {
class OdometryROS class OdometryROS
{ {
public: public:
static rtabmap::ParametersMap getDefaultOdometryParameters(bool stereo = false);
static void processArguments(int argc, char * argv[], bool stereo = false); static void processArguments(int argc, char * argv[], bool stereo = false);
public: public: