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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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This commit is contained in:
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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8
corelib/src/util3d.cpp
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@@ -215,13 +215,13 @@ pcl::PointXYZ projectDepthTo3D(
float cx, float cy,
float fx, float fy,
bool smoothing,
float maxZError)
float depthErrorRatio)
{
UASSERT(depthImage.type() == CV_16UC1 || depthImage.type() == CV_32FC1);
pcl::PointXYZ pt;
float depth = util2d::getDepth(depthImage, x, y, smoothing, maxZError);
float depth = util2d::getDepth(depthImage, x, y, smoothing, depthErrorRatio);
if(depth > 0.0f)
{
// Use correct principal point from calibration
@@ -2272,7 +2272,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr loadBINCloud(const std::string & fileName, i
UASSERT(bytes % sizeof(float) == 0);
int32_t num = bytes/sizeof(float);
UASSERT(num % dim == 0);
float *data = (float*)malloc(num*sizeof(float));
float *data = new float[num];
// pointers
float *px = data+0;
@@ -2292,6 +2292,8 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr loadBINCloud(const std::string & fileName, i
px+=4; py+=4; pz+=4; pr+=4;
}
fclose(stream);
delete[] data;
}
return cloud;