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Adding support for compressed input data and right color image. (#1463)

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matlabbe
2025-03-08 16:40:04 -08:00
committed by GitHub
parent d88353dc1b
commit a1b602dbe0
26 changed files with 359 additions and 123 deletions
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14
corelib/src/odometry/OdometryMono.cpp
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@@ -205,17 +205,21 @@ Transform OdometryMono::computeTransform(SensorData & data, const Transform & gu
int nFeatures = 0;
// convert to grayscale
if(data.imageRaw().channels() > 1)
if(data.imageRaw().channels() > 1 || data.rightRaw().channels() > 1)
{
cv::Mat newFrame;
cv::cvtColor(data.imageRaw(), newFrame, cv::COLOR_BGR2GRAY);
cv::Mat newFrame = data.imageRaw();
cv::Mat newFrameRight = data.rightRaw();
if(data.imageRaw().channels() > 1)
cv::cvtColor(data.imageRaw(), newFrame, cv::COLOR_BGR2GRAY);
if(data.rightRaw().channels() > 1)
cv::cvtColor(data.rightRaw(), newFrameRight, cv::COLOR_BGR2GRAY);
if(!data.stereoCameraModels().empty())
{
data.setStereoImage(newFrame, data.rightRaw(), data.stereoCameraModels());
data.setStereoImage(newFrame, newFrameRight, data.stereoCameraModels());
}
else
{
data.setRGBDImage(newFrame, data.depthRaw(), data.cameraModels());
data.setRGBDImage(newFrame, newFrameRight, data.cameraModels());
}
}

9
corelib/src/odometry/OdometryORBSLAM3.cpp
View File

@@ -448,11 +448,16 @@ Transform OdometryORBSLAM3::computeTransform(
{
localTransform = data.stereoCameraModels()[0].localTransform();
cv::Mat leftMono = data.imageRaw();
if(data.imageRaw().channels() == 3) {
if(data.imageRaw().channels() == 3) {
leftMono = cv::Mat();
cv::cvtColor(data.imageRaw(), leftMono, CV_BGR2GRAY);
}
Tcw = orbslam_->TrackStereo(leftMono, data.rightRaw(), data.stamp(), orbslamImus_);
cv::Mat rightMono = data.rightRaw();
if(data.rightRaw().channels() == 3) {
rightMono = cv::Mat();
cv::cvtColor(data.imageRaw(), rightMono, CV_BGR2GRAY);
}
Tcw = orbslam_->TrackStereo(leftMono, rightMono, data.stamp(), orbslamImus_);
orbslamImus_.clear();
}
else