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0.16.3: Added OKVIS support (tested only on EuRoC dataset). Added IMU/IMUThread classes. Added OdomOKVIS/ConfigPath and Rtabmap/ImagesAlreadyRectified parameters. MainWindow, limited odom local feature map to maximum 50 meters from current pose (to avoid VTK glitching with near/far clipping plane).

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This commit is contained in:
matlabbe
2018-03-07 19:43:30 -05:00
parent 2fad881202
commit 4969ece356
30 changed files with 1700 additions and 102 deletions
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corelib/src/Odometry.cpp
+14 -1
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@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/OdometryFovis.h"
#include "rtabmap/core/OdometryViso2.h"
#include "rtabmap/core/OdometryDVO.h"
#include "rtabmap/core/OdometryOkvis.h"
#include "rtabmap/core/OdometryORBSLAM2.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/core/util3d.h"
@@ -76,6 +77,9 @@ Odometry * Odometry::create(Odometry::Type & type, const ParametersMap & paramet
case Odometry::kTypeF2F:
odometry = new OdometryF2F(parameters);
break;
case Odometry::kTypeOkvis:
odometry = new OdometryOkvis(parameters);
break;
default:
odometry = new OdometryF2M(parameters);
type = Odometry::kTypeF2M;
@@ -101,6 +105,7 @@ Odometry::Odometry(const rtabmap::ParametersMap & parameters) :
_imageDecimation(Parameters::defaultOdomImageDecimation()),
_alignWithGround(Parameters::defaultOdomAlignWithGround()),
_publishRAMUsage(Parameters::defaultRtabmapPublishRAMUsage()),
_imagesAlreadyRectified(Parameters::defaultRtabmapImagesAlreadyRectified()),
_pose(Transform::getIdentity()),
_resetCurrentCount(0),
previousStamp_(0),
@@ -128,6 +133,7 @@ Odometry::Odometry(const rtabmap::ParametersMap & parameters) :
Parameters::parse(parameters, Parameters::kOdomImageDecimation(), _imageDecimation);
Parameters::parse(parameters, Parameters::kOdomAlignWithGround(), _alignWithGround);
Parameters::parse(parameters, Parameters::kRtabmapPublishRAMUsage(), _publishRAMUsage);
Parameters::parse(parameters, Parameters::kRtabmapImagesAlreadyRectified(), _imagesAlreadyRectified);
if(_imageDecimation == 0)
{
@@ -227,6 +233,13 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
{
UASSERT_MSG(data.id() >= 0, uFormat("Input data should have ID greater or equal than 0 (id=%d)!", data.id()).c_str());
if(!_imagesAlreadyRectified && !this->canProcessRawImages())
{
UERROR("Odometry approach chosen cannot process raw images (not rectified images). Make sure images "
"are rectified, and set %s parameter back to true.",
Parameters::kRtabmapImagesAlreadyRectified().c_str());
}
// Ground alignment
if(_pose.isIdentity() && _alignWithGround)
{
@@ -337,7 +350,7 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
UTimer time;
Transform t;
if(_imageDecimation > 1)
if(_imageDecimation > 1 && !data.imageRaw().empty())
{
// Decimation of images with calibrations
SensorData decimatedData = data;