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Odom sensor option (#726)

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* Added Odom Sensor option

* Odom Sensor: Added pose time offset parameter

* Gui: fixed odom cloud not shown when rgb/depth doesn't have same size. Odom sensor: fixed rawImages set on non-stereo camera (because stereoRectify wrongly set to all cameras)

* Calibration: fixed rgb and depth suffixes not correctly set. OpenNI2: horizontal and vertical shifts can be also set for default calib.

* Fixed a warning

* OdomSensor: added option to use odom sensor output as ground truth (for comparison between odom sensor and rtabmap odom). Added scale factor option.

* FindG2O.cmake: updated path suffixes to find EXTERNAL csparse

* Pose3GravityFactor: fixed dllimport error on windows

* UI: Statistics panel not updated if not visible and keep stats in cache is unchecked. Added description to some timing debug logs in processStatistics().

* Removed vtkOutputWindow on Windows

* Odom Sensor: added zed sdk support

* bump version 0.20.11
This commit is contained in:
matlabbe
2021-05-23 17:21:12 -04:00
committed by GitHub
parent fe896260c5
commit 21dbeed4b7
25 changed files with 1532 additions and 728 deletions
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corelib/src/camera/CameraOpenNI2.cpp
+7 -6
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@@ -529,6 +529,13 @@ SensorData CameraOpenNI2::captureImage(CameraInfo * info)
if(_type==kTypeColorDepth)
{
if (_depthHShift > 0 || _depthVShift > 0)
{
cv::Mat out = cv::Mat::zeros(depth.size(), depth.type());
depth(cv::Rect(_depthHShift, _depthVShift, depth.cols - _depthHShift, depth.rows - _depthVShift)).copyTo(out(cv::Rect(0, 0, depth.cols - _depthHShift, depth.rows - _depthVShift)));
depth = out;
}
if(_stereoModel.right().isValidForRectification())
{
rgb = _stereoModel.right().rectifyImage(rgb);
@@ -536,12 +543,6 @@ SensorData CameraOpenNI2::captureImage(CameraInfo * info)
if(_stereoModel.left().isValidForRectification() && !_stereoModel.stereoTransform().isNull())
{
if (_depthHShift > 0 || _depthVShift > 0)
{
cv::Mat out = cv::Mat::zeros(depth.size(), depth.type());
depth(cv::Rect(_depthHShift, _depthVShift, depth.cols - _depthHShift, depth.rows - _depthVShift)).copyTo(out(cv::Rect(0, 0, depth.cols - _depthHShift, depth.rows - _depthVShift)));
depth = out;
}
depth = _stereoModel.left().rectifyImage(depth, 0);
depth = util2d::registerDepth(depth, _stereoModel.left().K(), rgb.size(), _stereoModel.right().K(), _stereoModel.stereoTransform());
}