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Added Stereo and StereoDense base classes (with Stereo->StereoOpticalFlow and StereoDense->StereoBM) to handle easily stereo parameters. Added stereoEval tool to test Stereo/OpticalFlow=false or true. Added StereoBM parameters. Refactoring of the Preferences dialog (tree view order and some titles)

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matlabbe
2015-12-11 17:44:15 -05:00
parent 818eda005f
commit 9cc94ce1e6
44 changed files with 6866 additions and 4311 deletions
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37
corelib/include/rtabmap/core/util2d.h
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@@ -39,20 +39,36 @@ namespace rtabmap
namespace util2d
{
cv::Mat RTABMAP_EXP disparityFromStereoImages(
// SSD: Sum of Squared Differences
float RTABMAP_EXP ssd(const cv::Mat & windowLeft, const cv::Mat & windowRight);
// SAD: Sum of Absolute intensity Differences
float RTABMAP_EXP sad(const cv::Mat & windowLeft, const cv::Mat & windowRight);
std::vector<cv::Point2f> RTABMAP_EXP calcStereoCorrespondences(
const cv::Mat & leftImage,
const cv::Mat & rightImage,
int type = CV_32FC1); // CV_32FC1 or CV_16SC1
const std::vector<cv::Point2f> & leftCorners,
std::vector<unsigned char> & status,
cv::Size winSize = cv::Size(6,3),
int maxLevel = 3,
int iterations = 5,
int minDisparity = 0,
int maxDisparity = 64,
bool ssdApproach = true); // SSD by default, otherwise it is SAD
// exactly as cv::calcOpticalFlowPyrLK but it should be called with pyramid (from cv::buildOpticalFlowPyramid()) and delta drops the y error.
void RTABMAP_EXP calcOpticalFlowPyrLKStereo( cv::InputArray _prevImg, cv::InputArray _nextImg,
cv::InputArray _prevPts, cv::InputOutputArray _nextPts,
cv::OutputArray _status, cv::OutputArray _err,
cv::Size winSize = cv::Size(15,3), int maxLevel = 3,
cv::TermCriteria criteria = cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 30, 0.01),
int flags = 0, double minEigThreshold = 1e-4 );
cv::Mat RTABMAP_EXP disparityFromStereoImages(
const cv::Mat & leftImage,
const cv::Mat & rightImage,
const std::vector<cv::Point2f> & leftCorners,
int flowWinSize = 9,
int flowMaxLevel = 4,
int flowIterations = 20,
double flowEps = 0.02,
float maxCorrespondencesSlope = 0.1f);
int type = CV_32FC1); // CV_32FC1 or CV_16SC1
cv::Mat RTABMAP_EXP depthFromDisparity(const cv::Mat & disparity,
float fx, float baseline,
@@ -70,11 +86,10 @@ cv::Mat RTABMAP_EXP depthFromStereoImages(
double flowEps = 0.02);
cv::Mat RTABMAP_EXP disparityFromStereoCorrespondences(
const cv::Mat & leftImage,
const cv::Size & disparitySize,
const std::vector<cv::Point2f> & leftCorners,
const std::vector<cv::Point2f> & rightCorners,
const std::vector<unsigned char> & mask,
float maxSlope = 0.1f);
const std::vector<unsigned char> & mask);
cv::Mat RTABMAP_EXP depthFromStereoCorrespondences(
const cv::Mat & leftImage,