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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.

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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
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5
corelib/include/rtabmap/core/Graph.h
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@@ -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
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@@ -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
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@@ -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);}