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0.19.2: Refactored SensorData interface. DBReader: Fixed GPS not published. #345: both g2o and gtsam working with GPS. g2o: added gravity edges.

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matlabbe
2019-04-09 20:05:24 -04:00
parent e7b3a7735d
commit 77ae8e108a
24 changed files with 878 additions and 480 deletions
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40
corelib/include/rtabmap/core/SensorData.h
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@@ -163,9 +163,23 @@ public:
const cv::Mat & imageRaw() const {return _imageRaw;}
const cv::Mat & depthOrRightRaw() const {return _depthOrRightRaw;}
const LaserScan & laserScanRaw() const {return _laserScanRaw;}
void setImageRaw(const cv::Mat & imageRaw) {_imageRaw = imageRaw;}
void setDepthOrRightRaw(const cv::Mat & depthOrImageRaw) {_depthOrRightRaw =depthOrImageRaw;}
void setLaserScanRaw(const LaserScan & laserScanRaw) {_laserScanRaw =laserScanRaw;}
/**
* Set image data. Detect automatically if raw or compressed.
* A matrix of type CV_8UC1 with 1 row is considered as compressed.
* @param clearPreviousData, clear previous raw and compressed images before setting the new ones.
*/
void setRGBDImage(const cv::Mat & rgb, const cv::Mat & depth, const CameraModel & model, bool clearPreviousData = true);
void setRGBDImage(const cv::Mat & rgb, const cv::Mat & depth, const std::vector<CameraModel> & models, bool clearPreviousData = true);
void setStereoImage(const cv::Mat & left, const cv::Mat & right, const StereoCameraModel & stereoCameraModel, bool clearPreviousData = true);
/**
* Set laser scan data. Detect automatically if raw or compressed.
* A matrix of type CV_8UC1 with 1 row is considered as compressed.
* @param clearPreviousData, clear previous raw and compressed scans before setting the new one.
*/
void setLaserScan(const LaserScan & laserScan, bool clearPreviousData = true);
void setCameraModel(const CameraModel & model) {_cameraModels.clear(); _cameraModels.push_back(model);}
void setCameraModels(const std::vector<CameraModel> & models) {_cameraModels = models;}
void setStereoCameraModel(const StereoCameraModel & stereoCameraModel) {_stereoCameraModel = stereoCameraModel;}
@@ -174,6 +188,11 @@ public:
cv::Mat depthRaw() const {return _depthOrRightRaw.type()!=CV_8UC1?_depthOrRightRaw:cv::Mat();}
cv::Mat rightRaw() const {return _depthOrRightRaw.type()==CV_8UC1?_depthOrRightRaw:cv::Mat();}
RTABMAP_DEPRECATED(void setImageRaw(const cv::Mat & image), "Use setRGBDImage() or setStereoImage() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn't clear compressed data.");
RTABMAP_DEPRECATED(void setDepthOrRightRaw(const cv::Mat & image), "Use setRGBDImage() or setStereoImage() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn't clear compressed data.");
RTABMAP_DEPRECATED(void setLaserScanRaw(const LaserScan & scan), "Use setLaserScan() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn't clear compressed data.");
RTABMAP_DEPRECATED(void setUserDataRaw(const cv::Mat & data), "Use setUserData() or removeRawData() instead.");
void uncompressData();
void uncompressData(
cv::Mat * imageRaw,
@@ -195,15 +214,15 @@ public:
const std::vector<CameraModel> & cameraModels() const {return _cameraModels;}
const StereoCameraModel & stereoCameraModel() const {return _stereoCameraModel;}
void setUserDataRaw(const cv::Mat & userDataRaw); // only set raw
/**
* Set user data. Detect automatically if raw or compressed. If raw, the data is
* compressed too. A matrix of type CV_8UC1 with 1 row is considered as compressed.
* If you have one dimension unsigned 8 bits raw data, make sure to transpose it
* (to have multiple rows instead of multiple columns) in order to be detected as
* not compressed.
* @param clearPreviousData, clear previous raw and compressed user data before setting the new one.
*/
void setUserData(const cv::Mat & userData);
void setUserData(const cv::Mat & userData, bool clearPreviousData = true);
const cv::Mat & userDataRaw() const {return _userDataRaw;}
const cv::Mat & userDataCompressed() const {return _userDataCompressed;}
@@ -251,7 +270,16 @@ public:
const Landmarks & landmarks() const {return _landmarks;}
long getMemoryUsed() const; // Return memory usage in Bytes
void clearCompressedData() {_imageCompressed=cv::Mat(); _depthOrRightCompressed=cv::Mat(); _laserScanCompressed.clear(); _userDataCompressed=cv::Mat();}
/**
* Clear compressed rgb/depth (left/right) images, compressed laser scan and compressed user data.
* Raw data are kept is set.
*/
void clearCompressedData(bool images = true, bool scan = true, bool userData = true);
/**
* Clear raw rgb/depth (left/right) images, raw laser scan and raw user data.
* Compressed data are kept is set.
*/
void clearRawData(bool images = true, bool scan = true, bool userData = true);
bool isPointVisibleFromCameras(const cv::Point3f & pt) const; // assuming point is in robot frame