i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

CameraImages: added configForEachFrame option (added to GUI too). CameraThread: for decimation, if depth is smaller than RGB, RGB is decimated first and if the resulting RGB image is smaller than the original depth, we then decimate the depth.

Browse Source
This commit is contained in:
matlabbe
2020-11-14 13:39:12 -05:00
parent 7be22d1b67
commit 01eb57f293
9 changed files with 285 additions and 106 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
corelib/include/rtabmap/core/Graph.h
View File

@@ -35,6 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/Parameters.h>
#include <rtabmap/core/Link.h>
#include <rtabmap/core/GPS.h>
#include <rtabmap/core/CameraModel.h>
namespace rtabmap {
class Memory;
@@ -55,10 +56,10 @@ namespace graph {
bool RTABMAP_EXP importPoses(
const std::string & filePath,
int format, // 0=Raw, 1=RGBD-SLAM motion capture (10=without change of coordinate frame), 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe
int format, // 0=Raw, 1=RGBD-SLAM motion capture (10=without change of coordinate frame), 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe, 9=EuRoC MAV
std::map<int, Transform> & poses,
std::multimap<int, Link> * constraints = 0, // optional for formats 3 and 4
std::map<int, double> * stamps = 0); // optional for format 1
std::map<int, double> * stamps = 0); // optional for format 1 and 9
bool RTABMAP_EXP exportGPS(
const std::string & filePath,

20
corelib/include/rtabmap/core/camera/CameraImages.h
View File

@@ -74,6 +74,11 @@ public:
_syncImageRateWithStamps = syncImageRateWithStamps;
}
void setConfigForEachFrame(bool value)
{
_hasConfigForEachFrame = value;
}
void setScanPath(
const std::string & dir,
int maxScanPts = 0,
@@ -116,12 +121,14 @@ public:
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
bool readPoses(
std::list<Transform> & outputPoses,
std::list<double> & stamps,
const std::string & filePath,
int format,
double maxTimeDiff) const;
std::list<Transform> & outputPoses,
std::list<double> & stamps,
const std::string & filePath,
int format,
double maxTimeDiff) const;
private:
std::string _path;
@@ -151,6 +158,7 @@ private:
bool _depthFromScanFillHolesFromBorder;
bool _filenamesAreTimestamps;
bool _hasConfigForEachFrame;
std::string _timestampsPath;
bool _syncImageRateWithStamps;
@@ -162,8 +170,10 @@ private:
std::list<double> _stamps;
std::list<Transform> odometry_;
std::list<cv::Mat> covariances_;
std::list<Transform> groundTruth_;
CameraModel _model;
std::list<CameraModel> _models;
UTimer _captureTimer;
double _captureDelay;

2
corelib/include/rtabmap/core/camera/CameraRGBDImages.h
View File

@@ -48,8 +48,6 @@ public:
virtual ~CameraRGBDImages();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
virtual void setStartIndex(int index) {CameraImages::setStartIndex(index);cameraDepth_.setStartIndex(index);} // negative means last
virtual void setMaxFrames(int value) {CameraImages::setMaxFrames(value);cameraDepth_.setMaxFrames(value);}