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CameraImages: moved scan filtering stuff to CameraThread

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Preferences->Source: refactored scan filtering parameters
OdometryF2M and OdometryF2F: moved odom orientation init from IMU to OdometryROS instead
This commit is contained in:
matlabbe
2019-01-15 15:41:07 -05:00
parent 42c8ed0c0f
commit 9da2c1918f
12 changed files with 210 additions and 269 deletions
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27
corelib/include/rtabmap/core/CameraThread.h
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@@ -69,20 +69,24 @@ public:
void enableBilateralFiltering(float sigmaS, float sigmaR);
void disableBilateralFiltering() {_bilateralFiltering = false;}
void setScanFromDepth(
bool enabled,
int decimation=4,
float maxDepth=4.0f,
void setScanParameters(
bool fromDepth,
int downsampleStep=1, // decimation of the depth image in case the scan is from depth image
float rangeMin=0.0f,
float rangeMax=0.0f,
float voxelSize = 0.0f,
int normalsK = 0,
int normalsRadius = 0.0f)
int normalsRadius = 0.0f,
bool forceGroundNormalsUp = false)
{
_scanFromDepth = enabled;
_scanDecimation=decimation;
_scanMaxDepth = maxDepth;
_scanFromDepth = fromDepth;
_scanDownsampleStep=downsampleStep;
_scanRangeMin = rangeMin;
_scanRangeMax = rangeMax;
_scanVoxelSize = voxelSize;
_scanNormalsK = normalsK;
_scanNormalsRadius = normalsRadius;
_scanForceGroundNormalsUp = forceGroundNormalsUp;
}
void postUpdate(SensorData * data, CameraInfo * info = 0) const;
@@ -106,12 +110,13 @@ private:
int _imageDecimation;
bool _stereoToDepth;
bool _scanFromDepth;
int _scanDecimation;
float _scanMaxDepth;
float _scanMinDepth;
int _scanDownsampleStep;
float _scanRangeMin;
float _scanRangeMax;
float _scanVoxelSize;
int _scanNormalsK;
float _scanNormalsRadius;
bool _scanForceGroundNormalsUp;
StereoDense * _stereoDense;
clams::DiscreteDepthDistortionModel * _distortionModel;
bool _bilateralFiltering;

17
corelib/include/rtabmap/core/camera/CameraImages.h
View File

@@ -76,21 +76,11 @@ public:
void setScanPath(
const std::string & dir,
int maxScanPts = 0,
int downsampleStep = 1,
float voxelSize = 0.0f,
int normalsK = 0, // compute normals if > 0
float normalsRadius = 0, // compute normals if > 0
const Transform & localTransform=Transform::getIdentity(),
bool forceGroundNormalsUp = false)
const Transform & localTransform=Transform::getIdentity())
{
_scanPath = dir;
_scanLocalTransform = localTransform;
_scanMaxPts = maxScanPts;
_scanDownsampleStep = downsampleStep;
_scanNormalsK = normalsK;
_scanNormalsRadius = normalsRadius;
_scanVoxelSize = voxelSize;
_scanForceGroundNormalsUp = forceGroundNormalsUp;
}
void setDepthFromScan(bool enabled, int fillHoles = 1, bool fillHolesFromBorder = false)
@@ -152,11 +142,6 @@ private:
std::string _scanPath;
Transform _scanLocalTransform;
int _scanMaxPts;
int _scanDownsampleStep;
float _scanVoxelSize;
int _scanNormalsK;
float _scanNormalsRadius;
bool _scanForceGroundNormalsUp;
bool _depthFromScan;
int _depthFromScanFillHoles; // <0:horizontal 0:disabled >0:vertical