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Updated detect more loop closures with optimization check to accept (like in dbviewer). DBViewer: added Depth image edition dialog. GainCompensator: now doing it on 3 channels separatly. Export: removed gain's alpha option, added max polygons option, added brightness/contrast auto balance option

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This commit is contained in:
matlabbe
2017-03-30 15:33:48 -04:00
parent a928a0b404
commit 767b29d5a3
20 changed files with 1695 additions and 551 deletions
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8
corelib/src/DBDriverSqlite3.h
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@@ -84,6 +84,10 @@ private:
float cellSize,
const cv::Point3f & viewpoint) const;
virtual void updateDepthImageQuery(
int nodeId,
const cv::Mat & image) const;
virtual void addStatisticsQuery(const Statistics & statistics) const;
// Load objects
@@ -107,6 +111,7 @@ private:
std::string queryStepNode() const;
std::string queryStepImage() const;
std::string queryStepDepth() const;
std::string queryStepDepthUpdate() const;
std::string queryStepSensorData() const;
std::string queryStepLinkUpdate() const;
std::string queryStepLink() const;
@@ -119,11 +124,12 @@ private:
int id,
const cv::Mat & imageBytes) const;
void stepDepth(sqlite3_stmt * ppStmt, const SensorData & sensorData) const;
void stepDepthUpdate(sqlite3_stmt * ppStmt, int nodeId, const cv::Mat & imageCompressed) const;
void stepSensorData(sqlite3_stmt * ppStmt, const SensorData & sensorData) const;
void stepLink(sqlite3_stmt * ppStmt, const Link & link) const;
void stepWordsChanged(sqlite3_stmt * ppStmt, int signatureId, int oldWordId, int newWordId) const;
void stepKeypoint(sqlite3_stmt * ppStmt, int signatureId, int wordId, const cv::KeyPoint & kp, const cv::Point3f & pt, const cv::Mat & descriptor) const;
void stepOccupancyGrid(sqlite3_stmt * ppStmt,
void stepOccupancyGridUpdate(sqlite3_stmt * ppStmt,
int nodeId,
const cv::Mat & ground,
const cv::Mat & obstacles,