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Refactored Odometry class:

Browse Source 
-new odometry parameters
-new Optical flow strategy
-Stereo data support 
Refactored SensorData class to support stereo images
Updated default parameters (mostly odometry ones)
util3d: new methods to handle/reconstruct 3D clouds from disparity image / stereo images
PreferencesDialog: added Odometry/BOW and Odometry/OpticalFLow panels.
DatabaseViewer: fixed a crash when database is empty. Added cloud reconstruction of stereo images if saved in database
Camera: added 1 second delay to avoid dark images at the starting


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1849 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-13 19:10:22 +00:00
parent a3f7415821
commit 8b67633b34
25 changed files with 2108 additions and 498 deletions
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corelib/src/DBDriverSqlite3.cpp
+1 -1
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@@ -2025,7 +2025,7 @@ void DBDriverSqlite3::stepDepth(sqlite3_stmt * ppStmt,
if(uStrNumCmp(_version, "0.7.0") < 0)
{
rc = sqlite3_bind_double(ppStmt, index++, 1.0f/fy);
rc = sqlite3_bind_double(ppStmt, index++, 1.0f/fx);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
}
else