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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/src/CameraModel.cpp
+18 -2
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@@ -125,6 +125,10 @@ bool CameraModel::load(const std::string & filePath)
return true;
}
else
{
UWARN("Could not load calibration file \"%s\".", filePath.c_str());
}
return false;
}
@@ -241,11 +245,15 @@ cv::Mat CameraModel::rectifyDepth(const cv::Mat & raw) const
//
//StereoCameraModel
//
bool StereoCameraModel::load(const std::string & directory, const std::string & cameraName)
bool StereoCameraModel::load(const std::string & directory, const std::string & cameraName, bool ignoreStereoTransform)
{
name_ = cameraName;
if(left_.load(directory+"/"+cameraName+"_left.yaml") && right_.load(directory+"/"+cameraName+"_right.yaml"))
{
if(ignoreStereoTransform)
{
return true;
}
//load rotation, translation
R_ = cv::Mat();
T_ = cv::Mat();
@@ -299,13 +307,21 @@ bool StereoCameraModel::load(const std::string & directory, const std::string &
return true;
}
else
{
UWARN("Could not load stereo calibration file \"%s\".", filePath.c_str());
}
}
return false;
}
bool StereoCameraModel::save(const std::string & directory, const std::string & cameraName)
bool StereoCameraModel::save(const std::string & directory, const std::string & cameraName, bool ignoreStereoTransform)
{
if(left_.save(directory+"/"+cameraName+"_left.yaml") && right_.save(directory+"/"+cameraName+"_right.yaml"))
{
if(ignoreStereoTransform)
{
return true;
}
std::string filePath = directory+"/"+cameraName+"_pose.yaml";
if(!filePath.empty() && !name_.empty() && !R_.empty() && !T_.empty())
{