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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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tools/OdometryViewer/main.cpp
+19 -19
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@@ -100,17 +100,17 @@ int main (int argc, char * argv[])
float rate = 0.0;
std::string inputDatabase;
int driver = 0;
int odomType = rtabmap::Parameters::defaultOdomFeatureType();
int odomType = rtabmap::Parameters::defaultVisFeatureType();
bool icp = false;
bool flow = false;
bool mono = false;
int nnType = rtabmap::Parameters::defaultOdomBowNNType();
float nndr = rtabmap::Parameters::defaultOdomBowNNDR();
float distance = rtabmap::Parameters::defaultOdomInlierDistance();
int maxWords = rtabmap::Parameters::defaultOdomMaxFeatures();
int minInliers = rtabmap::Parameters::defaultOdomMinInliers();
float maxDepth = rtabmap::Parameters::defaultOdomMaxDepth();
int iterations = rtabmap::Parameters::defaultOdomIterations();
int nnType = rtabmap::Parameters::defaultVisNNType();
float nndr = rtabmap::Parameters::defaultVisNNDR();
float distance = rtabmap::Parameters::defaultVisInlierDistance();
int maxWords = rtabmap::Parameters::defaultVisMaxFeatures();
int minInliers = rtabmap::Parameters::defaultVisMinInliers();
float maxDepth = rtabmap::Parameters::defaultVisMaxDepth();
int iterations = rtabmap::Parameters::defaultVisIterations();
int resetCountdown = rtabmap::Parameters::defaultOdomResetCountdown();
int decimation = 4;
float voxel = 0.005;
@@ -620,7 +620,7 @@ int main (int argc, char * argv[])
rtabmap::ParametersMap parameters;
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomMaxDepth(), uNumber2Str(maxDepth)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisMaxDepth(), uNumber2Str(maxDepth)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomResetCountdown(), uNumber2Str(resetCountdown)));
if(!icp)
@@ -630,11 +630,11 @@ int main (int argc, char * argv[])
UINFO("RANSAC iterations = %d", iterations);
UINFO("Max features = %d", maxWords);
UINFO("GPU = %s", gpu?"true":"false");
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomInlierDistance(), uNumber2Str(distance)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomMinInliers(), uNumber2Str(minInliers)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomIterations(), uNumber2Str(iterations)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomMaxFeatures(), uNumber2Str(maxWords)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomFeatureType(), uNumber2Str(odomType)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisInlierDistance(), uNumber2Str(distance)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisMinInliers(), uNumber2Str(minInliers)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisIterations(), uNumber2Str(iterations)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisMaxFeatures(), uNumber2Str(maxWords)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisFeatureType(), uNumber2Str(odomType)));
if(odomType == 0)
{
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kSURFGpuVersion(), uBool2Str(gpu)));
@@ -666,15 +666,15 @@ int main (int argc, char * argv[])
UINFO("Nearest neighbor = %s", nnName.c_str());
UINFO("Nearest neighbor ratio = %f", nndr);
UINFO("Local history = %d", localHistory);
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomBowNNType(), uNumber2Str(nnType)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomBowNNDR(), uNumber2Str(nndr)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisNNType(), uNumber2Str(nnType)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisNNDR(), uNumber2Str(nndr)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomBowLocalHistorySize(), uNumber2Str(localHistory)));
if(mono)
{
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomPnPFlags(), uNumber2Str(0))); //CV_ITERATIVE
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomPnPReprojError(), "4.0"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomIterations(), "100"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisPnPFlags(), uNumber2Str(0))); //CV_ITERATIVE
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisPnPReprojError(), "4.0"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisIterations(), "100"));
odom = new rtabmap::OdometryMono(parameters);
}
else