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Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used

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matlabbe
2015-11-22 18:08:32 -05:00
parent 1e5bcfded8
commit ae9f21acd7
46 changed files with 4934 additions and 4547 deletions
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corelib/src/Parameters.cpp
+91
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@@ -39,6 +39,8 @@ namespace rtabmap
ParametersMap Parameters::parameters_;
ParametersMap Parameters::descriptions_;
Parameters Parameters::instance_;
std::map<std::string, std::pair<bool, std::string> > Parameters::removedParameters_;
ParametersMap Parameters::backwardCompatibilityMap_;
Parameters::Parameters()
{
@@ -69,6 +71,95 @@ std::string Parameters::getDefaultDatabaseName()
return "rtabmap.db";
}
const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemovedParameters()
{
if(removedParameters_.empty())
{
// removed parameters
removedParameters_.insert(std::make_pair("Mem/LaserScanVoxelSize", std::make_pair(false, Parameters::kMemLaserScanDownsampleStepSize())));
removedParameters_.insert(std::make_pair("RGBD/PoseScanMatching", std::make_pair(true, Parameters::kRGBDIcpOdomRefining())));
removedParameters_.insert(std::make_pair("Odom/FeatureType", std::make_pair(true, Parameters::kVisFeatureType())));
removedParameters_.insert(std::make_pair("Odom/EstimationType", std::make_pair(true, Parameters::kVisEstimationType())));
removedParameters_.insert(std::make_pair("Odom/MaxFeatures", std::make_pair(true, Parameters::kVisMaxFeatures())));
removedParameters_.insert(std::make_pair("Odom/InlierDistance", std::make_pair(true, Parameters::kVisInlierDistance())));
removedParameters_.insert(std::make_pair("Odom/MinInliers", std::make_pair(true, Parameters::kVisMinInliers())));
removedParameters_.insert(std::make_pair("Odom/Iterations", std::make_pair(true, Parameters::kVisIterations())));
removedParameters_.insert(std::make_pair("Odom/RefineIterations", std::make_pair(true, Parameters::kVisRefineIterations())));
removedParameters_.insert(std::make_pair("Odom/MaxDepth", std::make_pair(true, Parameters::kVisMaxDepth())));
removedParameters_.insert(std::make_pair("Odom/RoiRatios", std::make_pair(true, Parameters::kVisRoiRatios())));
removedParameters_.insert(std::make_pair("Odom/Force2D", std::make_pair(true, Parameters::kVisForce2D())));
removedParameters_.insert(std::make_pair("Odom/VarianceFromInliersCount", std::make_pair(true, Parameters::kRegVarianceFromInliersCount())));
removedParameters_.insert(std::make_pair("Odom/PnPReprojError", std::make_pair(true, Parameters::kVisPnPReprojError())));
removedParameters_.insert(std::make_pair("Odom/PnPFlags", std::make_pair(true, Parameters::kVisPnPFlags())));
removedParameters_.insert(std::make_pair("OdomBow/NNType", std::make_pair(true, Parameters::kVisNNType())));
removedParameters_.insert(std::make_pair("OdomBow/NNDR", std::make_pair(true, Parameters::kVisNNDR())));
removedParameters_.insert(std::make_pair("OdomSubPix/WinSize", std::make_pair(true, Parameters::kVisSubPixWinSize())));
removedParameters_.insert(std::make_pair("OdomSubPix/Iterations", std::make_pair(true, Parameters::kVisSubPixIterations())));
removedParameters_.insert(std::make_pair("OdomSubPix/Eps", std::make_pair(true, Parameters::kVisSubPixEps())));
removedParameters_.insert(std::make_pair("LccReextract/Activated", std::make_pair(false, Parameters::kRGBDLoopClosureReextractFeatures())));
removedParameters_.insert(std::make_pair("LccReextract/FeatureType", std::make_pair(false, Parameters::kVisFeatureType())));
removedParameters_.insert(std::make_pair("LccReextract/MaxWords", std::make_pair(false, Parameters::kVisMaxFeatures())));
removedParameters_.insert(std::make_pair("LccReextract/MaxDepth", std::make_pair(false, Parameters::kVisMaxDepth())));
removedParameters_.insert(std::make_pair("LccReextract/RoiRatios", std::make_pair(false, Parameters::kVisRoiRatios())));
removedParameters_.insert(std::make_pair("LccReextract/NNType", std::make_pair(false, Parameters::kVisNNType())));
removedParameters_.insert(std::make_pair("LccReextract/NNDR", std::make_pair(false, Parameters::kVisNNDR())));
removedParameters_.insert(std::make_pair("LccBow/EstimationType", std::make_pair(false, Parameters::kVisEstimationType())));
removedParameters_.insert(std::make_pair("LccBow/InlierDistance", std::make_pair(false, Parameters::kVisInlierDistance())));
removedParameters_.insert(std::make_pair("LccBow/MinInliers", std::make_pair(false, Parameters::kVisMinInliers())));
removedParameters_.insert(std::make_pair("LccBow/Iterations", std::make_pair(false, Parameters::kVisIterations())));
removedParameters_.insert(std::make_pair("LccBow/RefineIterations", std::make_pair(false, Parameters::kVisRefineIterations())));
removedParameters_.insert(std::make_pair("LccBow/Force2D", std::make_pair(false, Parameters::kVisForce2D())));
removedParameters_.insert(std::make_pair("LccBow/VarianceFromInliersCount", std::make_pair(false, Parameters::kRegVarianceFromInliersCount())));
removedParameters_.insert(std::make_pair("LccBow/PnPReprojError", std::make_pair(false, Parameters::kVisPnPReprojError())));
removedParameters_.insert(std::make_pair("LccBow/PnPFlags", std::make_pair(false, Parameters::kVisPnPFlags())));
removedParameters_.insert(std::make_pair("LccBow/EpipolarGeometryVar", std::make_pair(true, Parameters::kVisEpipolarGeometryVar())));
removedParameters_.insert(std::make_pair("LccIcp/Type", std::make_pair(true, Parameters::kRGBDIcpLoopClosureRefining())));
removedParameters_.insert(std::make_pair("LccIcp3/Decimation", std::make_pair(false, "")));
removedParameters_.insert(std::make_pair("LccIcp3/MaxDepth", std::make_pair(false, "")));
removedParameters_.insert(std::make_pair("LccIcp3/VoxelSize", std::make_pair(false, Parameters::kIcpVoxelSize())));
removedParameters_.insert(std::make_pair("LccIcp3/Samples", std::make_pair(false, Parameters::kIcpDownsamplingStep())));
removedParameters_.insert(std::make_pair("LccIcp3/MaxCorrespondenceDistance", std::make_pair(false, Parameters::kIcpMaxCorrespondenceDistance())));
removedParameters_.insert(std::make_pair("LccIcp3/Iterations", std::make_pair(false, Parameters::kIcpIterations())));
removedParameters_.insert(std::make_pair("LccIcp3/CorrespondenceRatio", std::make_pair(false, Parameters::kIcpCorrespondenceRatio())));
removedParameters_.insert(std::make_pair("LccIcp3/PointToPlane", std::make_pair(true, Parameters::kIcpPointToPlane())));
removedParameters_.insert(std::make_pair("LccIcp3/PointToPlaneNormalNeighbors", std::make_pair(true, Parameters::kIcpPointToPlaneNormalNeighbors())));
removedParameters_.insert(std::make_pair("LccIcp2/MaxCorrespondenceDistance", std::make_pair(true, Parameters::kIcpMaxCorrespondenceDistance())));
removedParameters_.insert(std::make_pair("LccIcp2/Iterations", std::make_pair(true, Parameters::kIcpIterations())));
removedParameters_.insert(std::make_pair("LccIcp2/CorrespondenceRatio", std::make_pair(true, Parameters::kIcpCorrespondenceRatio())));
removedParameters_.insert(std::make_pair("LccIcp2/VoxelSize", std::make_pair(true, Parameters::kIcpVoxelSize())));
}
return removedParameters_;
}
const ParametersMap & Parameters::getBackwardCompatibilityMap()
{
if(backwardCompatibilityMap_.empty())
{
getRemovedParameters(); // make sure removedParameters is filled
// compatibility
for(std::map<std::string, std::pair<bool, std::string> >::iterator iter=removedParameters_.begin();
iter!=removedParameters_.end();
++iter)
{
if(iter->second.first)
{
backwardCompatibilityMap_.insert(ParametersPair(iter->second.second, iter->first));
}
}
}
return backwardCompatibilityMap_;
}
std::string Parameters::getDescription(const std::string & paramKey)
{
std::string description;