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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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This commit is contained in:
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/CameraRGBD.h
+44 -9
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@@ -86,7 +86,7 @@ class RTABMAP_EXP CameraRGBD
{
public:
virtual ~CameraRGBD();
void takeImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy);
void takeImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy, double & stamp);
virtual bool init(const std::string & calibrationFolder = ".") = 0;
virtual bool isCalibrated() const = 0;
@@ -116,7 +116,7 @@ protected:
/**
* returned rgb and depth images should be already rectified
*/
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy) = 0;
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy, double & stamp) = 0;
private:
float _imageRate;
@@ -152,7 +152,7 @@ public:
virtual std::string getSerial() const;
protected:
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy);
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy, double & stamp);
private:
pcl::Grabber* interface_;
@@ -186,7 +186,7 @@ public:
virtual std::string getSerial() const {return "";} // unknown with OpenCV
protected:
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy);
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy, double & stamp);
private:
bool _asus;
@@ -222,7 +222,7 @@ public:
bool setMirroring(bool enabled);
protected:
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy);
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy, double & stamp);
private:
openni::Device * _device;
@@ -257,7 +257,7 @@ public:
virtual std::string getSerial() const;
protected:
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy);
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy, double & stamp);
private:
int deviceId_;
@@ -295,7 +295,7 @@ public:
virtual std::string getSerial() const;
protected:
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy);
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy, double & stamp);
private:
int deviceId_;
@@ -328,7 +328,7 @@ public:
virtual std::string getSerial() const;
protected:
virtual void captureImage(cv::Mat & left, cv::Mat & right, float & fx, float & baseline, float & cx, float & cy);
virtual void captureImage(cv::Mat & left, cv::Mat & right, float & fx, float & baseline, float & cx, float & cy, double & stamp);
private:
DC1394Device *device_;
@@ -353,11 +353,46 @@ public:
virtual std::string getSerial() const;
protected:
virtual void captureImage(cv::Mat & left, cv::Mat & right, float & fx, float & baseline, float & cx, float & cy);
virtual void captureImage(cv::Mat & left, cv::Mat & right, float & fx, float & baseline, float & cx, float & cy, double & stamp);
private:
FlyCapture2::Camera * camera_;
void * triclopsCtx_; // TriclopsContext
};
/////////////////////////
// CameraStereoImages
/////////////////////////
class CameraImages;
class RTABMAP_EXP CameraStereoImages :
public CameraRGBD
{
public:
static bool available();
public:
CameraStereoImages(
const std::string & path,
const std::string & cameraName = "stereo_images", // calibration file name
const std::string & timestampsPath = "", // "times.txt"
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraStereoImages();
virtual bool init(const std::string & calibrationFolder = ".");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
virtual void captureImage(cv::Mat & left, cv::Mat & right, float & fx, float & baseline, float & cx, float & cy, double & stamp);
private:
CameraImages * camera_;
CameraImages * camera2_;
std::string cameraName_;
std::string timestampsPath_;
std::list<double> stamps_;
StereoCameraModel stereoModel_;
};
} // namespace rtabmap