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Updated how odometry guess is done (adapt to time between timestamps) and Kalman filtering (using velocity)

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matlabbe
2016-02-27 18:30:00 -05:00
parent a8d1b91083
commit 6d06b66496
16 changed files with 311 additions and 253 deletions
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corelib/src/Stereo.cpp
+2 -6
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@@ -94,8 +94,7 @@ std::vector<cv::Point2f> Stereo::computeCorrespondences(
StereoOpticalFlow::StereoOpticalFlow(const ParametersMap & parameters) :
Stereo(parameters),
epsilon_(Parameters::defaultStereoEps()),
maxSlope_(Parameters::defaultStereoMaxSlope())
epsilon_(Parameters::defaultStereoEps())
{
this->parseParameters(parameters);
}
@@ -104,7 +103,6 @@ void StereoOpticalFlow::parseParameters(const ParametersMap & parameters)
{
Stereo::parseParameters(parameters);
Parameters::parse(parameters, Parameters::kStereoEps(), epsilon_);
Parameters::parse(parameters, Parameters::kStereoMaxSlope(), maxSlope_);
}
@@ -135,9 +133,7 @@ std::vector<cv::Point2f> StereoOpticalFlow::computeCorrespondences(
if(status[i]!=0)
{
float disparity = leftCorners[i].x - rightCorners[i].x;
float slope = fabs((leftCorners[i].y-rightCorners[i].y) / (leftCorners[i].x-rightCorners[i].x));
if(disparity < float(this->minDisparity()) || disparity > float(this->maxDisparity()) ||
(maxSlope_ > 0.0f && fabs(leftCorners[i].y-rightCorners[i].y) > 1.0f && slope > maxSlope_))
if(disparity < float(this->minDisparity()) || disparity > float(this->maxDisparity()))
{
status[i] = 0;
}