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Parameters renamed: "OdomLocalMap" group is now "OdomF2M" for Frame to Map odometry. Visual registration feature matching: using guess transform to limit the radius of correspondences "Vis/CorGuessWinSize=16"

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matlabbe
2016-02-22 16:13:14 -05:00
parent 0d68f74d80
commit ccc4b4a6c2
22 changed files with 844 additions and 638 deletions
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corelib/src/OdometryThread.cpp
+2 -2
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@@ -25,10 +25,10 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <rtabmap/core/OdometryF2M.h>
#include "rtabmap/core/OdometryThread.h"
#include "rtabmap/core/Odometry.h"
#include "rtabmap/core/OdometryMono.h"
#include "rtabmap/core/OdometryLocalMap.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/core/CameraEvent.h"
#include "rtabmap/core/OdometryEvent.h"
@@ -103,7 +103,7 @@ void OdometryThread::mainLoop()
void OdometryThread::addData(const SensorData & data)
{
if(dynamic_cast<OdometryMono*>(_odometry) == 0 && dynamic_cast<OdometryLocalMap*>(_odometry) == 0)
if(dynamic_cast<OdometryMono*>(_odometry) == 0 && dynamic_cast<OdometryF2M*>(_odometry) == 0)
{
if(data.imageRaw().empty() || data.depthOrRightRaw().empty() || (data.cameraModels().size()==0 && !data.stereoCameraModel().isValidForProjection()))
{