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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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32
guilib/src/MainWindow.cpp
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@@ -603,18 +603,18 @@ void MainWindow::processOdometry(const rtabmap::SensorData & data, int quality,
if(data.depth().cols == data.image().cols &&
data.depth().rows == data.image().rows &&
!data.depth().empty() &&
data.depthFx() > 0.0f &&
data.depthFy() > 0.0f &&
data.fx() > 0.0f &&
data.fy() > 0.0f &&
_preferencesDialog->isCloudsShown(1))
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
cloud = createCloud(0,
data.image(),
data.depth(),
data.depthFx(),
data.depthFy(),
data.depthCx(),
data.depthCy(),
data.fx(),
data.fy(),
data.cx(),
data.cy(),
data.localTransform(),
pose,
_preferencesDialog->getCloudVoxelSize(1),
@@ -2084,7 +2084,15 @@ void MainWindow::startDetection()
UERROR("OdomThread must be already deleted here?!");
delete _odomThread;
}
Odometry * odom = new OdometryBOW(parameters);
Odometry * odom;
if(_preferencesDialog->getOdomStrategy() == 1)
{
odom = new OdometryOpticalFlow(parameters);
}
else
{
odom = new OdometryBOW(parameters);
}
_odomThread = new OdometryThread(odom);
UEventsManager::addHandler(_odomThread);
@@ -2179,7 +2187,15 @@ void MainWindow::startDetection()
UERROR("OdomThread must be already deleted here?!");
delete _odomThread;
}
Odometry * odom = new OdometryBOW(parameters);
Odometry * odom;
if(_preferencesDialog->getOdomStrategy() == 1)
{
odom = new OdometryOpticalFlow(parameters);
}
else
{
odom = new OdometryBOW(parameters);
}
_odomThread = new OdometryThread(odom);
UEventsManager::addHandler(_odomThread);