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CameraImages: support scan only dataset.

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This commit is contained in:
matlabbe
2021-01-24 13:21:30 -05:00
parent e99c658276
commit 4d75361fe0
7 changed files with 180 additions and 98 deletions
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36
tools/KittiDataset/main.cpp
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@@ -61,7 +61,7 @@ void showUsage()
" --height Add car's height to camera local transform (1.67m).\n"
" --disp Generate full disparity.\n"
" --exposure_comp Do exposure compensation between left and right images.\n"
" --scan Include velodyne scan in node's data.\n"
" --scan Include velodyne scan in node's data (use --scan_only to ignore image data).\n"
" --scan_step # Scan downsample step (default=1).\n"
" --scan_voxel #.# Scan voxel size (default 0.5 m).\n"
" --scan_k Scan normal K (default 0).\n"
@@ -115,6 +115,7 @@ int main(int argc, char * argv[])
float scanVoxel = 0.5f;
int scanNormalK = 0;
float scanNormalRadius = 0.0f;
bool scanOnly = false;
std::string gtPath;
bool quiet = false;
if(argc < 2)
@@ -173,6 +174,10 @@ int main(int argc, char * argv[])
showUsage();
}
}
else if(std::strcmp(argv[i], "--scan_only") == 0)
{
scan = scanOnly = true;
}
else if(std::strcmp(argv[i], "--gt") == 0)
{
gtPath = argv[++i];
@@ -264,6 +269,7 @@ int main(int argc, char * argv[])
{
pathScan = path+"/velodyne";
printf(" Scan: %s\n", pathScan.c_str());
printf(" Scan only: %s\n", scanOnly?"true":"false");
printf(" Scan step: %d\n", scanStep);
printf(" Scan voxel: %fm\n", scanVoxel);
printf(" Scan normal k: %d\n", scanNormalK);
@@ -354,14 +360,22 @@ int main(int argc, char * argv[])
// We use CameraThread only to use postUpdate() method
Transform opticalRotation(0,0,1,0, -1,0,0,color?-0.06:0, 0,-1,0,height?1.67:0.0);
CameraThread cameraThread(new
CameraStereoImages(
pathLeftImages,
pathRightImages,
false, // assume that images are already rectified
0.0f,
opticalRotation), parameters);
((CameraStereoImages*)cameraThread.camera())->setTimestamps(false, pathTimes, false);
Camera * camera = 0;
if(scanOnly)
{
camera = new CameraImages(""); // Scan path is set below
}
else
{
camera = new CameraStereoImages(
pathLeftImages,
pathRightImages,
false, // assume that images are already rectified
0.0f,
opticalRotation);
}
CameraThread cameraThread(camera, parameters);
((CameraImages*)cameraThread.camera())->setTimestamps(false, pathTimes, false);
if(exposureCompensation)
{
cameraThread.setStereoExposureCompensation(true);
@@ -372,11 +386,11 @@ int main(int argc, char * argv[])
}
if(!gtPath.empty())
{
((CameraStereoImages*)cameraThread.camera())->setGroundTruthPath(gtPath, 2);
((CameraImages*)cameraThread.camera())->setGroundTruthPath(gtPath, 2);
}
if(!pathScan.empty())
{
((CameraStereoImages*)cameraThread.camera())->setScanPath(
((CameraImages*)cameraThread.camera())->setScanPath(
pathScan,
130000,
Transform(-0.27f, 0.0f, 0.08+(height?1.67f:0.0f), 0.0f, 0.0f, 0.0f));