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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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52
corelib/src/util3d.cpp
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@@ -351,12 +351,9 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFromDisparity(
UASSERT(imageDisparity.type() == CV_32FC1 || imageDisparity.type()==CV_16SC1);
UASSERT(imageDisparity.rows % decimation == 0);
UASSERT(imageDisparity.cols % decimation == 0);
UASSERT(decimation >= 1);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
if(decimation < 1)
{
return cloud;
}
//cloud.header = cameraInfo.header;
cloud->height = imageDisparity.rows/decimation;
@@ -396,30 +393,25 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromDisparityRGB(
float fx, float baseline,
int decimation)
{
UASSERT(!imageRgb.empty() && !imageDisparity.empty());
UASSERT(imageRgb.rows == imageDisparity.rows &&
imageRgb.cols == imageDisparity.cols &&
(imageDisparity.type() == CV_32FC1 || imageDisparity.type()==CV_16SC1));
UASSERT(imageDisparity.rows % decimation == 0);
UASSERT(imageDisparity.cols % decimation == 0);
UASSERT(imageRgb.channels() == 3 || imageRgb.channels() == 1);
UASSERT(decimation >= 1);
UASSERT(imageDisparity.rows % decimation == 0 && imageDisparity.cols % decimation == 0);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
if(decimation < 1)
{
return cloud;
}
bool mono;
if(imageRgb.channels() == 3) // BGR
{
mono = false;
}
else if(imageRgb.channels() == 1) // Mono
else // Mono
{
mono = true;
}
else
{
return cloud;
}
//cloud.header = cameraInfo.header;
cloud->height = imageRgb.rows/decimation;
@@ -463,20 +455,40 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromStereoImages(
float fx, float baseline,
int decimation)
{
UASSERT(!imageLeft.empty() && !imageRight.empty());
UASSERT(imageRight.type() == CV_8UC1);
UASSERT(imageLeft.channels() == 3 || imageLeft.channels() == 1);
UASSERT(imageLeft.rows == imageRight.rows &&
imageLeft.cols == imageRight.cols);
UASSERT(decimation >= 1);
cv::Mat leftColor = imageLeft;
cv::Mat rightMono = imageRight;
if(leftColor.rows % decimation != 0 ||
leftColor.cols % decimation != 0)
{
leftColor = util2d::decimate(leftColor, decimation);
rightMono = util2d::decimate(rightMono, decimation);
fx /= float(decimation);
cx /= float(decimation);
cy /= float(decimation);
decimation = 1;
}
cv::Mat leftMono;
if(imageLeft.channels() == 3)
if(leftColor.channels() == 3)
{
cv::cvtColor(imageLeft, leftMono, CV_BGR2GRAY);
cv::cvtColor(leftColor, leftMono, CV_BGR2GRAY);
}
else
{
leftMono = imageLeft;
leftMono = leftColor;
}
return cloudFromDisparityRGB(
imageLeft,
util2d::disparityFromStereoImages(leftMono, imageRight),
leftColor,
util2d::disparityFromStereoImages(leftMono, rightMono),
cx, cy,
fx, baseline,
decimation);