i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-03 16:27:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added a quality odometry threshold, turning the background yellow when the mapping area has too low features

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1334 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-06 18:06:49 +00:00
parent 363901cfe4
commit df0f9d60d5
12 changed files with 191 additions and 55 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/include/rtabmap/core/Odometry.h
+10 -5
View File
@@ -34,7 +34,7 @@ class RTABMAP_EXP Odometry
{
public:
virtual ~Odometry() {}
Transform process(Image & image);
Transform process(Image & image, int * quality = 0);
virtual void reset();
bool isLargeEnoughTransform(const Transform & transform);
@@ -44,18 +44,20 @@ public:
int getMinInliers() const {return _minInliers;}
float getInlierDistance() const {return _inlierDistance;}
int getIterations() const {return _iterations;}
float getWordsRatio() const {return _wordsRatio;}
float getMaxDepth() const {return _maxDepth;}
float geLinearUpdate() const {return _linearUpdate;}
float getAngularUpdate() const {return _angularUpdate;}
private:
virtual Transform computeTransform(Image & image) = 0;
virtual Transform computeTransform(Image & image, int * quality = 0) = 0;
private:
int _maxFeatures;
int _minInliers;
float _inlierDistance;
int _iterations;
float _wordsRatio;
float _maxDepth;
float _linearUpdate;
float _angularUpdate;
@@ -68,6 +70,7 @@ protected:
int maxWords = Parameters::defaultOdomMaxWords(),
int minInliers = Parameters::defaultOdomMinInliers(),
int iterations = Parameters::defaultOdomIterations(),
float wordsRatio = Parameters::defaultOdomWordsRatio(),
float maxDepth = Parameters::defaultOdomMaxDepth(),
float linearUpdate = Parameters::defaultOdomLinearUpdate(),
float angularUpdate = Parameters::defaultOdomAngularUpdate(),
@@ -83,6 +86,7 @@ public:
int maxWords = Parameters::defaultOdomMaxWords(),
int minInliers = Parameters::defaultOdomMinInliers(),
int iterations = Parameters::defaultOdomIterations(),
float wordsRatio = Parameters::defaultOdomWordsRatio(),
float maxDepth = Parameters::defaultOdomMaxDepth(),
float linearUpdate = Parameters::defaultOdomLinearUpdate(),
float angularUpdate = Parameters::defaultOdomAngularUpdate(),
@@ -96,7 +100,7 @@ public:
virtual void reset();
private:
virtual Transform computeTransform(Image & image);
virtual Transform computeTransform(Image & image, int * quality = 0);
private:
int _briefBytes;
@@ -120,6 +124,7 @@ public:
int maxWords = Parameters::defaultOdomMaxWords(),
int minInliers = Parameters::defaultOdomMinInliers(),
int iterations = Parameters::defaultOdomIterations(),
float wordsRatio = Parameters::defaultOdomWordsRatio(),
float maxDepth = Parameters::defaultOdomMaxDepth(),
float linearUpdate = Parameters::defaultOdomLinearUpdate(),
float angularUpdate = Parameters::defaultOdomAngularUpdate(),
@@ -132,7 +137,7 @@ public:
virtual void reset();
private:
virtual Transform computeTransform(Image & image);
virtual Transform computeTransform(Image & image, int * quality = 0);
private:
Memory * _memory;
@@ -156,7 +161,7 @@ public:
void reset();
private:
virtual Transform computeTransform(Image & image);
virtual Transform computeTransform(Image & image, int * quality = 0);
private:
int _decimation;
corelib/include/rtabmap/core/OdometryEvent.h
+5 -2
View File
@@ -17,16 +17,19 @@ class OdometryEvent : public UEvent
{
public:
OdometryEvent(
const Image & data) :
_data(data) {}
const Image & data, int quality = 0) :
_data(data),
_quality(quality) {}
virtual ~OdometryEvent() {}
virtual std::string getClassName() const {return "OdometryEvent";}
bool isValid() const {return !_data.pose().isNull();}
const Image & data() const {return _data;}
int quality() const {return _quality;}
private:
Image _data;
int _quality;
};
class OdometryResetEvent : public UEvent
corelib/include/rtabmap/core/Parameters.h
+1
View File
@@ -224,6 +224,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Odom, MinInliers, int, 10, "Minimum visual word correspondences to compute geometry transform.");
RTABMAP_PARAM(Odom, Iterations, int, 100, "Maximum iterations to compute the transform from visual words.");
RTABMAP_PARAM(Odom, MaxDepth, float, 5.0, "Max depth of the words (0 means no limit).");
RTABMAP_PARAM(Odom, WordsRatio, float, 0.5, "Minmum ratio of keypoints between the current image and the last image to compute odometry.");
RTABMAP_PARAM(Odom, ResetCountdown, int, 0, "Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset).")
RTABMAP_PARAM(OdomBin, BriefBytes, int, 32, "");
corelib/src/Odometry.cpp
+36 -19
View File
@@ -36,6 +36,7 @@ Odometry::Odometry(
int maxWords,
int minInliers,
int iterations,
float wordsRatio,
float maxDepth,
float linearUpdate,
float angularUpdate,
@@ -44,6 +45,7 @@ Odometry::Odometry(
_minInliers(minInliers),
_inlierDistance(inlierDistance),
_iterations(iterations),
_wordsRatio(wordsRatio),
_maxDepth(maxDepth),
_linearUpdate(linearUpdate),
_angularUpdate(angularUpdate),
@@ -59,6 +61,7 @@ Odometry::Odometry(const rtabmap::ParametersMap & parameters) :
_minInliers(Parameters::defaultOdomMinInliers()),
_inlierDistance(Parameters::defaultOdomInlierDistance()),
_iterations(Parameters::defaultOdomIterations()),
_wordsRatio(Parameters::defaultOdomWordsRatio()),
_maxDepth(Parameters::defaultOdomMaxDepth()),
_linearUpdate(Parameters::defaultOdomLinearUpdate()),
_angularUpdate(Parameters::defaultOdomAngularUpdate()),
@@ -72,6 +75,7 @@ Odometry::Odometry(const rtabmap::ParametersMap & parameters) :
Parameters::parse(parameters, Parameters::kOdomMinInliers(), _minInliers);
Parameters::parse(parameters, Parameters::kOdomInlierDistance(), _inlierDistance);
Parameters::parse(parameters, Parameters::kOdomIterations(), _iterations);
Parameters::parse(parameters, Parameters::kOdomWordsRatio(), _wordsRatio);
Parameters::parse(parameters, Parameters::kOdomMaxDepth(), _maxDepth);
Parameters::parse(parameters, Parameters::kOdomMaxWords(), _maxFeatures);
}
@@ -89,9 +93,9 @@ bool Odometry::isLargeEnoughTransform(const Transform & transform)
fabs(transform.z()) > _linearUpdate;
}
Transform Odometry::process(Image & image)
Transform Odometry::process(Image & image, int * quality)
{
Transform t = this->computeTransform(image);
Transform t = this->computeTransform(image, quality);
if(!t.isNull())
{
_resetCurrentCount = _resetCountdown;
@@ -117,6 +121,7 @@ OdometryBinary::OdometryBinary(
int maxWords,
int minInliers,
int iterations,
float wordsRatio,
float maxDepth,
float linearUpdate,
float angularUpdate,
@@ -125,7 +130,7 @@ OdometryBinary::OdometryBinary(
int fastThreshold,
bool fastNonmaxSuppression,
bool bruteForceMatching) :
Odometry(inlierDistance, maxWords, minInliers, iterations, maxDepth, linearUpdate, angularUpdate, resetCoutdown),
Odometry(inlierDistance, maxWords, minInliers, iterations, wordsRatio, maxDepth, linearUpdate, angularUpdate, resetCoutdown),
_briefBytes(briefBytes),
_fastThreshold(fastThreshold),
_fastNonmaxSuppression(fastNonmaxSuppression),
@@ -156,8 +161,8 @@ void OdometryBinary::reset()
}
// return true if odometry is correctly computed
Transform OdometryBinary::computeTransform(Image & image)
// return not null transform if odometry is correctly computed
Transform OdometryBinary::computeTransform(Image & image, int * quality)
{
UTimer timer;
cv::Mat imageMono;
@@ -187,7 +192,7 @@ Transform OdometryBinary::computeTransform(Image & image)
if(_lastKeypoints.size())
{
if(newDescriptors.rows && newDescriptors.rows > (int)_lastKeypoints.size()/2) // at least 50% keypoints
if(newDescriptors.rows && newDescriptors.rows > (int)(getWordsRatio() * float(_lastKeypoints.size()))) // at least 50% keypoints
{
cv::Mat results;
cv::Mat dists;
@@ -308,6 +313,11 @@ Transform OdometryBinary::computeTransform(Image & image)
float x,y,z, roll,pitch,yaw;
pcl::getTranslationAndEulerAngles(util3d::transformToEigen3f(t), x,y,z, roll,pitch,yaw);
if(quality)
{
*quality = inliers;
}
// Large transforms may be erroneous computed transforms, so keep under 1 m
if(inliers >= this->getMinInliers())
{
@@ -335,8 +345,8 @@ Transform OdometryBinary::computeTransform(Image & image)
}
else if(newDescriptors.rows)
{
UWARN("At least 50%% keypoints of the last image required. New=%d last=%d",
newDescriptors.rows, _lastKeypoints.size());
UWARN("At least %f%% keypoints of the last image required. New=%d last=%d",
getWordsRatio()*100.0f, newDescriptors.rows, _lastKeypoints.size());
}
else
{
@@ -368,13 +378,14 @@ OdometryBOW::OdometryBOW(
int maxWords,
int minInliers,
int iterations,
float wordsRatio,
float maxDepth,
float linearUpdate,
float angularUpdate,
int resetCoutdown,
float surfHessianThreshold,
float nndr) : // nearest neighbor distance ratio
Odometry(inlierDistance, maxWords, minInliers, iterations, maxDepth, linearUpdate, angularUpdate, resetCoutdown),
Odometry(inlierDistance, maxWords, minInliers, iterations, wordsRatio, maxDepth, linearUpdate, angularUpdate, resetCoutdown),
_memory(new Memory())
{
ParametersMap customParameters;
@@ -421,8 +432,8 @@ void OdometryBOW::reset()
}
// return true if odometry is correctly computed
Transform OdometryBOW::computeTransform(Image & image)
// return not null transform if odometry is correctly computed
Transform OdometryBOW::computeTransform(Image & image, int * quality)
{
UTimer timer;
Transform output;
@@ -444,10 +455,10 @@ Transform OdometryBOW::computeTransform(Image & image)
if(previousSignature && newSignature)
{
Transform transform;
if(newSignature->getWords3().size() < previousSignature->getWords3().size()/2)
if(newSignature->getWords3().size() < (unsigned int)(getWordsRatio() * float(previousSignature->getWords3().size())))
{
UWARN("At least 50%% keypoints of the last image required. New=%d last=%d",
newSignature->getWords3().size(), previousSignature->getWords3().size());
UWARN("At least %f%% keypoints of the last image required. New=%d last=%d",
getWordsRatio()*100.0f, newSignature->getWords3().size(), previousSignature->getWords3().size());
}
else if(!previousSignature->getWords3().empty() && !newSignature->getWords3().empty())
{
@@ -472,6 +483,11 @@ Transform OdometryBOW::computeTransform(Image & image)
this->getIterations(),
&inliers);
if(quality)
{
*quality = inliers;
}
if(inliers < this->getMinInliers())
{
transform.setNull();
@@ -527,7 +543,7 @@ OdometryICP::OdometryICP(
float linearUpdate,
float angularUpdate,
int resetCoutdown) :
Odometry(0, 0, 0, 0, maxDepth, linearUpdate, angularUpdate, resetCoutdown),
Odometry(0, 0, 0, 0, 0, maxDepth, linearUpdate, angularUpdate, resetCoutdown),
_decimation(decimation),
_voxelSize(voxelSize),
_samples(samples),
@@ -563,8 +579,8 @@ void OdometryICP::reset()
_previousCloud.reset(new pcl::PointCloud<pcl::PointNormal>);
}
// return not null if odometry is correctly computed
Transform OdometryICP::computeTransform(Image & image)
// return not null transform if odometry is correctly computed
Transform OdometryICP::computeTransform(Image & image, int * quality)
{
UTimer timer;
Transform output;
@@ -698,9 +714,10 @@ void OdometryThread::mainLoop()
getImage(image);
if(!image.empty())
{
Transform pose = _odometry->process(image);
int quality = 0;
Transform pose = _odometry->process(image, &quality);
image.setPose(pose); // a null pose notify that odometry could not be computed
this->post(new OdometryEvent(image));
this->post(new OdometryEvent(image, quality));
}
}
guilib/include/rtabmap/gui/MainWindow.h
+2 -2
View File
@@ -126,7 +126,7 @@ private slots:
void selectScreenCaptureFormat(bool checked);
void takeScreenshot();
void updateElapsedTime();
void processOdometry(const rtabmap::Image & data);
void processOdometry(const rtabmap::Image & data, int quality);
void applyAllPrefSettings();
void applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags);
void applyPrefSettings(const rtabmap::ParametersMap & parameters);
@@ -156,7 +156,7 @@ private slots:
signals:
void statsReceived(const rtabmap::Statistics &);
void odometryReceived(const rtabmap::Image &);
void odometryReceived(const rtabmap::Image &, int);
void thresholdsChanged(int, int);
void stateChanged(MainWindow::State);
void rtabmapEventInitReceived(int status, const QString & info);
guilib/include/rtabmap/gui/OdometryViewer.h
+4 -2
View File
@@ -23,7 +23,7 @@ class RTABMAPGUI_EXP OdometryViewer : public CloudViewer, public UEventsHandler
Q_OBJECT
public:
OdometryViewer(int maxClouds = 10, int decimation = 2, float voxelSize = 0.0f, QWidget * parent = 0);
OdometryViewer(int maxClouds = 10, int decimation = 2, float voxelSize = 0.0f, int qualityWarningThr=0, QWidget * parent = 0);
virtual ~OdometryViewer() {}
protected:
@@ -35,11 +35,13 @@ private slots:
private:
UMutex dataMutex_;
std::list<rtabmap::Image> buffer_;
std::list<rtabmap::Image> data_;
int dataQuality_;
UTimer timer_;
int maxClouds_;
float voxelSize_;
int decimation_;
int qualityWarningThr_;
int id_;
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > clouds_;
QAction * _aSetVoxelSize;
guilib/include/rtabmap/gui/PreferencesDialog.h
+1
View File
@@ -113,6 +113,7 @@ public:
bool imageHighestHypShown() const;
bool beepOnPause() const;
int getKeypointsOpacity() const;
int getOdomQualityWarnThr() const;
bool isCloudMeshing(int index) const; // 0=map
bool isCloudsShown(int index) const; // 0=map, 1=odom, 2=save
guilib/src/MainWindow.cpp
+11 -3
View File
@@ -328,7 +328,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(this, SIGNAL(statsReceived(rtabmap::Statistics)), this, SLOT(processStats(rtabmap::Statistics)));
qRegisterMetaType<rtabmap::Image>("rtabmap::Image");
connect(this, SIGNAL(odometryReceived(rtabmap::Image)), this, SLOT(processOdometry(rtabmap::Image)));
connect(this, SIGNAL(odometryReceived(rtabmap::Image, int)), this, SLOT(processOdometry(rtabmap::Image, int)));
connect(this, SIGNAL(noMoreImagesReceived()), this, SLOT(stopDetection()));
@@ -527,7 +527,7 @@ void MainWindow::handleEvent(UEvent* anEvent)
!_processingStatistics)
{
_lastOdometryProcessed = false; // if we receive too many odometry events!
emit odometryReceived(odomEvent->data());
emit odometryReceived(odomEvent->data(), odomEvent->quality());
}
}
else if(anEvent->getClassName().compare("ULogEvent") == 0)
@@ -550,7 +550,7 @@ void MainWindow::handleEvent(UEvent* anEvent)
}
}
void MainWindow::processOdometry(const rtabmap::Image & data)
void MainWindow::processOdometry(const rtabmap::Image & data, int quality)
{
Transform pose = data.pose();
if(pose.isNull())
@@ -560,11 +560,19 @@ void MainWindow::processOdometry(const rtabmap::Image & data)
pose = _lastOdomPose;
}
else if(quality &&
_preferencesDialog->getOdomQualityWarnThr() &&
quality < _preferencesDialog->getOdomQualityWarnThr())
{
UDEBUG("odom warn, quality=%d thr=%d", quality, _preferencesDialog->getOdomQualityWarnThr());
_ui->widget_cloudViewer->setBackgroundColor(Qt::darkYellow);
}
else
{
UDEBUG("odom ok");
_ui->widget_cloudViewer->setBackgroundColor(Qt::black);
}
_ui->statsToolBox->updateStat("/Odom inliers/", (float)data.id(), (float)quality);
if(!pose.isNull())
{
_lastOdomPose = pose;
guilib/src/OdometryViewer.cpp
+20 -8
View File
@@ -21,11 +21,12 @@
namespace rtabmap {
OdometryViewer::OdometryViewer(int maxClouds, int decimation, float voxelSize, QWidget * parent) :
OdometryViewer::OdometryViewer(int maxClouds, int decimation, float voxelSize, int qualityWarningThr, QWidget * parent) :
CloudViewer(parent),
maxClouds_(maxClouds),
voxelSize_(voxelSize),
decimation_(decimation),
qualityWarningThr_(qualityWarningThr),
id_(0),
_aSetVoxelSize(0),
_aSetDecimation(0),
@@ -48,11 +49,14 @@ OdometryViewer::OdometryViewer(int maxClouds, int decimation, float voxelSize, Q
void OdometryViewer::processData()
{
rtabmap::Image data;
int quality;
dataMutex_.lock();
if(buffer_.size())
if(data_.size())
{
data = buffer_.back();
buffer_.clear();
data = data_.back();
data_.clear();
quality = dataQuality_;
dataQuality_ = 0;
}
dataMutex_.unlock();
@@ -96,7 +100,14 @@ void OdometryViewer::processData()
this->updateCameraPosition(data.pose());
this->setBackgroundColor(Qt::black);
if(qualityWarningThr_ && quality && quality < qualityWarningThr_)
{
this->setBackgroundColor(Qt::darkYellow);
}
else
{
this->setBackgroundColor(Qt::black);
}
this->render();
}
@@ -114,15 +125,16 @@ void OdometryViewer::handleEvent(UEvent * event)
{
bool empty = false;
dataMutex_.lock();
if(buffer_.empty())
if(data_.empty())
{
buffer_.push_back(odomEvent->data());
data_.push_back(odomEvent->data());
empty= true;
}
else
{
buffer_.back() = odomEvent->data();
data_.back() = odomEvent->data();
}
dataQuality_ = odomEvent->quality();
dataMutex_.unlock();
if(empty)
{
guilib/src/PreferencesDialog.cpp
+8 -2
View File
@@ -394,6 +394,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->odom_iterations->setObjectName(Parameters::kOdomIterations().c_str());
_ui->odom_maxDepth->setObjectName(Parameters::kOdomMaxDepth().c_str());
_ui->odom_minInliers->setObjectName(Parameters::kOdomMinInliers().c_str());
_ui->odom_ratio->setObjectName(Parameters::kOdomWordsRatio().c_str());
_ui->stackedWidget_odom->setCurrentIndex(_ui->odom_type->currentIndex());
connect(_ui->odom_type, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_odom, SLOT(setCurrentIndex(int)));
@@ -705,6 +706,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_imageRejectedShown->setChecked(true);
_ui->checkBox_imageHighestHypShown->setChecked(false);
_ui->horizontalSlider_keypointsOpacity->setSliderPosition(20);
_ui->spinBox_odomQualityWarnThr->setValue(50);
}
else if(groupBox->objectName() == _ui->groupBox_cloudRendering1->objectName())
{
@@ -718,7 +720,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
if(i<2)
{
_3dRenderingOpacity[i]->setValue(i==0?0.6:1.0);
_3dRenderingOpacity[i]->setValue(1.0);
_3dRenderingPtSize[i]->setValue(i==0?1:2);
_3dRenderingOpacityScan[i]->setValue(1.0);
_3dRenderingPtSizeScan[i]->setValue(1);
@@ -2330,6 +2332,10 @@ int PreferencesDialog::getKeypointsOpacity() const
{
return _ui->horizontalSlider_keypointsOpacity->value();
}
int PreferencesDialog::getOdomQualityWarnThr() const
{
return _ui->spinBox_odomQualityWarnThr->value();
}
bool PreferencesDialog::isCloudsShown(int index) const
{
@@ -2767,7 +2773,7 @@ void PreferencesDialog::testOdometry(OdomType type)
window->setMinimumHeight(600);
connect( window, SIGNAL(destroyed(QObject*)), this, SLOT(cleanOdometryTest()) );
OdometryViewer * odomViewer = new OdometryViewer(10, 2, 0.0, window);
OdometryViewer * odomViewer = new OdometryViewer(10, 2, 0.0, this->getOdomQualityWarnThr(), window);
QVBoxLayout *layout = new QVBoxLayout();
layout->addWidget(odomViewer);
guilib/src/ui/preferencesDialog.ui
+71 -12
View File
@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>1027</width>
<height>494</height>
<height>659</height>
</rect>
</property>
<property name="sizePolicy">
@@ -64,8 +64,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>724</width>
<height>1076</height>
<width>729</width>
<height>823</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>0</number>
<number>15</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -143,12 +143,9 @@
<item>
<widget class="QGroupBox" name="groupBox_5">
<property name="title">
<string>Image view</string>
<string>Loop closure detection view</string>
</property>
<layout class="QFormLayout" name="formLayout_12">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_imageFlipped">
<property name="text">
@@ -235,7 +232,7 @@
<item row="0" column="1">
<widget class="QLabel" name="label_70">
<property name="text">
<string>Vertical layout used for the loop closure detection window.</string>
<string>Vertical layout.</string>
</property>
<property name="wordWrap">
<bool>false</bool>
@@ -255,6 +252,36 @@
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox">
<property name="title">
<string>3D Map view</string>
</property>
<layout class="QFormLayout" name="formLayout_23">
<item row="0" column="0">
<widget class="QSpinBox" name="spinBox_odomQualityWarnThr">
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_86">
<property name="text">
<string>Odometry warning theshold:
Show a yellow background when the number of odometry inliers goes under this threshold. If 0, it is ignored. You can see the current odometry inliers count under Statistics view -&gt; General -&gt; Odom inliers.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_2">
<property name="title">
@@ -598,7 +625,7 @@ High-res view</string>
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.600000000000000</double>
<double>1.000000000000000</double>
</property>
</widget>
</item>
@@ -4963,7 +4990,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="9" column="1">
<item row="10" column="1">
<widget class="QLabel" name="label_104">
<property name="text">
<string>Max feature depth. For ICP, it is the max cloud depth.</string>
@@ -4973,7 +5000,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="9" column="0">
<item row="10" column="0">
<widget class="QDoubleSpinBox" name="odom_maxDepth">
<property name="suffix">
<string> m</string>
@@ -5009,6 +5036,38 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_90">
<property name="text">
<string>Minmum ratio of keypoints between the current image and the last image to compute odometry.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QDoubleSpinBox" name="odom_ratio">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.500000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
<item>
tools/OdometryViewer/main.cpp
+22
View File
@@ -27,6 +27,7 @@ void showUsage()
" -min # Minimum inliers to accept the transform (default 20)\n"
" -depth #.# Maximum features depth (default 5.0 m)\n"
" -i # RANSAC/ICP iterations (default 100)\n"
" -r #.# Words ratio (default 0.5)\n"
" -lu # Linear update (default 0.0 m)\n"
" -au # Angular update (default 0.0 radian)\n"
" -reset # Reset countdown (default 0 = disabled)\n"
@@ -63,6 +64,7 @@ int main (int argc, char * argv[])
float distance = 0.005;
int maxWords = 0;
int minInliers = 20;
float wordsRatio = 0.5;
float maxDepth = 5.0f;
int iterations = 100;
float linearUpdate = 0.0f;
@@ -252,6 +254,23 @@ int main (int argc, char * argv[])
}
continue;
}
if(strcmp(argv[i], "-r") == 0)
{
++i;
if(i < argc)
{
wordsRatio = std::atof(argv[i]);
if(wordsRatio < 0.0f || wordsRatio > 1.0f)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-lu") == 0)
{
++i;
@@ -446,6 +465,7 @@ int main (int argc, char * argv[])
UINFO("Max features = %d", maxWords);
UINFO("Min inliers = %d", minInliers);
UINFO("RANSAC/ICP iterations = %d", iterations);
UINFO("Words ratio = %f", wordsRatio);
UINFO("Max depth = %f", maxDepth);
UINFO("Linear update = %f", linearUpdate);
UINFO("Angular update = %f", angularUpdate);
@@ -470,6 +490,7 @@ int main (int argc, char * argv[])
maxWords,
minInliers,
iterations,
wordsRatio,
maxDepth,
linearUpdate,
angularUpdate,
@@ -482,6 +503,7 @@ int main (int argc, char * argv[])
maxWords,
minInliers,
iterations,
wordsRatio,
maxDepth,
linearUpdate,
angularUpdate,