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Added CameraStereoImages class to read stereo images from a directory. Added a particle filter to smooth odometry trajectory. Added parameter RGBD/OptimizeEpsilon to limit TORO iterations when error improvement is small. Added Rtabmap/CreateIntermediateNodes parameter: this can be used to keep all odometry poses 'between' nodes used for loop closure detection. Added PnP approach to loop closure constraint estimation. Fixed decimation of stereo images when image size is odd.

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matlabbe
2015-06-11 16:57:16 -04:00
parent feba562c1b
commit b8dccc2228
49 changed files with 2651 additions and 729 deletions
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corelib/include/rtabmap/core/CameraModel.h
+3 -3
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@@ -110,11 +110,11 @@ public:
}
virtual ~StereoCameraModel() {}
bool isValid() const {return left_.isValid() && right_.isValid() && !R_.empty() && !T_.empty() && !E_.empty() && !F_.empty();}
bool isValid() const {return left_.isValid() && right_.isValid();}
const std::string & name() const {return name_;}
bool load(const std::string & directory, const std::string & cameraName);
bool save(const std::string & directory, const std::string & cameraName);
bool load(const std::string & directory, const std::string & cameraName, bool ignoreStereoTransform = true);
bool save(const std::string & directory, const std::string & cameraName, bool ignoreStereoTransform = true);
double baseline() const {return -right_.Tx()/right_.fx();}