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0.15.1: CameraImages: added ground truth time diff, fixed memory leak when loading binary scans. CameraRGBDImages and CameraStereoImages: fixed start id. Feature2D: added grid rows and cols parameters (Kp/GridRows, Kp/GridCols, Vis/GridRows, Vis/GridCols). OdomInfo: publish bundle frames. OdometryORBSLAM2: added OdomORBSLAM2/Fps and OdomORBSLAM2/MaxFeatures parameters. Registration: added Reg/RepeatOnce parameter and removed variance normalization. For util2d::getDepth() and util3d::projectDepthTo3D(), maxZError parameter is now depthErrorRatio to be dependent of the sensor range. Database: save image width and height from stereo calibration. OptimizerG2O: fixed SBA optimization when using g2o built from ORBSLAM2 library. OptimizerGTSAM: to increase optimization stability, all rotations in information matrix are divided by 100000. Added rtabmap-report tool.

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matlabbe
2017-11-30 16:52:03 -05:00
parent 821c1c938e
commit 4452e637ad
46 changed files with 1892 additions and 802 deletions
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corelib/include/rtabmap/core/CameraRGBD.h
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@@ -429,6 +429,8 @@ public:
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
virtual void setStartIndex(int index) {CameraImages::setStartIndex(index);cameraDepth_.setStartIndex(index);} // negative means last
protected:
virtual SensorData captureImage(CameraInfo * info = 0);