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Stereo: added subpixel kpts processing, added test_stereo_odometry.launch

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CoreWrapper: Fixed corrupted image when reextracting features

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1847 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-10-08 00:43:05 +00:00
parent 07f675b3b8
commit fcf92d90e5
9 changed files with 234 additions and 161 deletions
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launch/tests/test_odometry.launch
+10 -12
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@@ -1,18 +1,16 @@
<launch>
<!-- Arguments: "type", "nn" and "local_map" -->
<!-- Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF -->
<arg name="type" default="0" />
<!-- Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH -->
<!-- Should be 1 for float descriptor like SIFT/SURF -->
<!-- Should be 2 for binary descriptor like ORB/FREAK/BRIEF -->
<arg name="nn" default="1" />
<!-- local map size: number of unique features to keep track -->
<arg name="local_map" default="0" />
<!-- ODOMETRY ARGUMENTS: "type", "nn" and "local_map":
-Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
-Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE
Set to 1 for float descriptor like SIFT/SURF
Set to 3 for binary descriptor like ORB/FREAK/BRIEF/BRISK
-Local map size: number of unique features to keep track
-->
<arg name="type" default="6" />
<arg name="nn" default="3" />
<arg name="local_map" default="2000" />
<!-- TF FRAMES -->
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"