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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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corelib/src/Odometry.cpp
+14 -7
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@@ -405,20 +405,27 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
{
// Decimation of images with calibrations
SensorData decimatedData = data;
decimatedData.setImageRaw(util2d::decimate(decimatedData.imageRaw(), _imageDecimation));
decimatedData.setDepthOrRightRaw(util2d::decimate(decimatedData.depthOrRightRaw(), _imageDecimation));
cv::Mat rgbLeft = util2d::decimate(decimatedData.imageRaw(), _imageDecimation);
cv::Mat depthRight = util2d::decimate(decimatedData.depthOrRightRaw(), _imageDecimation);
std::vector<CameraModel> cameraModels = decimatedData.cameraModels();
for(unsigned int i=0; i<cameraModels.size(); ++i)
{
cameraModels[i] = cameraModels[i].scaled(1.0/double(_imageDecimation));
}
decimatedData.setCameraModels(cameraModels);
StereoCameraModel stereoModel = decimatedData.stereoCameraModel();
if(stereoModel.isValidForProjection())
if(!cameraModels.empty())
{
stereoModel.scale(1.0/double(_imageDecimation));
decimatedData.setRGBDImage(rgbLeft, depthRight, cameraModels);
}
decimatedData.setStereoCameraModel(stereoModel);
else
{
StereoCameraModel stereoModel = decimatedData.stereoCameraModel();
if(stereoModel.isValidForProjection())
{
stereoModel.scale(1.0/double(_imageDecimation));
}
decimatedData.setStereoImage(rgbLeft, depthRight, stereoModel);
}
// compute transform
t = this->computeTransform(decimatedData, guess, info);