i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update 0.15.4.

Browse Source 
Parameters:
-Added "GridGlobal/MaxNodes=0", "Rtabmap/PublishRAMUsage=false", "Mem/DepthAsMask=true", "Kp/FlannRebalancingFactor=2.0", "Vis/DepthAsMask=true".
-Modified "Kp/DetectorStrategy=6", "Kp/MaxFeatures=500",  "Mem/UseOdomFeatures=true", "GFTT/QualityLevel=0.001", "GFTT/MinDistance=3", "RGBD/OptimizeMaxError=1", "RGBD/ProximityPathFilteringRadius=1", "Odom/GuessMotion=true", "Odom/VisKeyFrameThr=150", "OdomF2M/BundleAdjustment=1", "Vis/Iterations=300" if built with g2o, "OdomF2M/BundleAdjustmentMaxFrames=10", "OdomFovis/MinFeaturesForEstimate=20", "OdomORBSLAM2/MapSize=3000", "Reg/RepeatOnce=true", "Vis/PnPRefineIterations=0" if built with g2o, "Vis/CorGuessMatchToProjection=true", "Vis/BundleAdjustment=1" if built with g2o, "Icp/MaxCorrespondenceDistance=0.1", "Icp/PointToPlaneK=5", "Icp/PointToPlaneRadius=1", "Icp/PM=true" if built with libpointmatcher, "Stereo/MaxLevel=5", "Stereo/MinDisparity=0.5".

BayesFilter: optimized prediction matrix update. Use of new argument "ignoreLocalSpaceLoopIds" of Memory::getNeighborsId() to ignore loop closure link by space in prediction update.
CameraThread: Added stereo exposure compensation option.
CameraRGB: Added forceGroundNormalsUp option and added support of ground truth from EuRoC dataset.
Statistics: Added "Memory/RAM_usage/MB".
Transform: Added clone() method to do deep copy.
Graph::importPoses(): EuRoC format support (9).
Rtabmap: Local visual loop closures are now identified as GlobalClosure link type.
OccupancyGrid/OctoMap: updated how cache is used (old node retrieved can be re-added to map without re-assembling the whole map).
OdometryF2F: when using ICP, increasing correspondence distance for first two frames. If Vis/CorType=1 and registration fails, second guess without motion is done with Vis/CorType=0.
OdometryF2M/RegVis: updated how features are removed from the map, using new projectedIDs filled in RegistrationInfo by RegistrationVis.
OdometryORBSLAM2: Maximum size of the feature map can be set with "OdomORBSLAM2/MapSize" parameter.
CloudViewer: fixed opengl camera drifting in follow mode.
DatabaseViewer: Added optimization scale option. ConstraintsView: hide loop closure links if type is ignored in gui parameters.
MainWindow: Support of "GridGlobal/MaxNodes" parameters when updating the maps.
UPlot: don't show ellipses when not in graphics view mode, updated how "random" colors are attributed to curves
Added rtabmap-euroc_dataset tool. Updated rtabmap-kitti_dataset and rtabmap-rgbd_dataset tools.
Added rtabmap-reprocess tool.
This commit is contained in:
matlabbe
2018-02-01 22:17:46 -05:00
parent 9f80f4ac42
commit 977d21eed5
76 changed files with 3844 additions and 1307 deletions
Download Patch File Download Diff File Expand all files Collapse all files

17
guilib/src/CreateSimpleCalibrationDialog.cpp
View File

@@ -141,9 +141,9 @@ void CreateSimpleCalibrationDialog::updateSaveStatus()
(!ui_->checkBox_stereo->isChecked() || !ui_->lineEdit_RT->text().isEmpty()))
{
//advanced
QStringList distorsionsStrListL = ui_->lineEdit_D_l->text().remove('[').remove(']').replace(',',' ').replace(';',' ').trimmed().split(' ');
QStringList distorsionsStrListR = ui_->lineEdit_D_r->text().remove('[').remove(']').replace(',',' ').replace(';',' ').trimmed().split(' ');
std::string RT = ui_->lineEdit_RT->text().remove('[').remove(']').replace(',',' ').replace(';',' ').trimmed().toStdString();
QStringList distorsionsStrListL = ui_->lineEdit_D_l->text().remove('[').remove(']').replace(',',' ').replace(';',' ').simplified().trimmed().split(' ');
QStringList distorsionsStrListR = ui_->lineEdit_D_r->text().remove('[').remove(']').replace(',',' ').replace(';',' ').simplified().trimmed().split(' ');
std::string RT = ui_->lineEdit_RT->text().remove('[').remove(']').replace(',',' ').replace(';',' ').simplified().trimmed().toStdString();
if((distorsionsStrListL.size() == 4 || distorsionsStrListL.size() == 5 || distorsionsStrListL.size() == 8) &&
(!ui_->checkBox_stereo->isChecked() || (distorsionsStrListR.size() == 4 || distorsionsStrListR.size() == 5 || distorsionsStrListR.size() == 8)) &&
@@ -192,7 +192,7 @@ void CreateSimpleCalibrationDialog::saveCalibration()
cv::Mat P = cv::Mat::zeros(3, 4, CV_64FC1);
K.copyTo(cv::Mat(P, cv::Range(0,3), cv::Range(0,3)));
QStringList distorsionCoeffs = ui_->lineEdit_D_l->text().remove('[').remove(']').replace(',',' ').replace(';',' ').trimmed().split(' ');
QStringList distorsionCoeffs = ui_->lineEdit_D_l->text().remove('[').remove(']').replace(',',' ').replace(';',' ').simplified().trimmed().split(' ');
UASSERT(distorsionCoeffs.size() == 4 || distorsionCoeffs.size() == 5 || distorsionCoeffs.size() == 8);
cv::Mat D = cv::Mat::zeros(1, distorsionCoeffs.size(), CV_64FC1);
bool ok;
@@ -240,7 +240,7 @@ void CreateSimpleCalibrationDialog::saveCalibration()
cv::Mat P = cv::Mat::zeros(3, 4, CV_64FC1);
K.copyTo(cv::Mat(P, cv::Range(0,3), cv::Range(0,3)));
QStringList distorsionCoeffs = ui_->lineEdit_D_r->text().remove('[').remove(']').replace(',',' ').replace(';',' ').trimmed().split(' ');
QStringList distorsionCoeffs = ui_->lineEdit_D_r->text().remove('[').remove(']').replace(',',' ').replace(';',' ').simplified().trimmed().split(' ');
UASSERT(distorsionCoeffs.size() == 4 || distorsionCoeffs.size() == 5 || distorsionCoeffs.size() == 8);
cv::Mat D = cv::Mat::zeros(1, distorsionCoeffs.size(), CV_64FC1);
bool ok;
@@ -257,8 +257,13 @@ void CreateSimpleCalibrationDialog::saveCalibration()
modelRight = CameraModel(name.toStdString(), cv::Size(width,height), K, D, R, P);
UASSERT(modelRight.isValidForRectification());
UASSERT(Transform::canParseString(ui_->lineEdit_RT->text().remove('[').remove(']').replace(',',' ').replace(';',' ').trimmed().toStdString()));
UASSERT(Transform::canParseString(ui_->lineEdit_RT->text().remove('[').remove(']').replace(',',' ').replace(';',' ').simplified().trimmed().toStdString()));
stereoModel = StereoCameraModel(name.toStdString(), modelLeft, modelRight, Transform::fromString(ui_->lineEdit_RT->text().remove('[').remove(']').replace(',',' ').replace(';',' ').trimmed().toStdString()));
if(stereoModel.baseline() < 0)
{
QMessageBox::warning(this, tr("Save"), tr("Error parsing the extrinsics \"%1\", resulting baseline (%f) is negative!").arg(ui_->lineEdit_RT->text()).arg(stereoModel.baseline()));
return;
}
UASSERT(stereoModel.isValidForRectification());
}