i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 10:00:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

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.

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

47
guilib/src/OdometryViewer.cpp
View File

@@ -48,7 +48,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap {
OdometryViewer::OdometryViewer(int maxClouds, int decimation, float voxelSize, int qualityWarningThr, QWidget * parent) :
OdometryViewer::OdometryViewer(int maxClouds, int decimation, float voxelSize, float maxDepth, int qualityWarningThr, QWidget * parent) :
QDialog(parent),
imageView_(new ImageView(this)),
cloudView_(new CloudViewer(this)),
@@ -66,12 +66,14 @@ OdometryViewer::OdometryViewer(int maxClouds, int decimation, float voxelSize, i
imageView_->setImageDepthShown(false);
imageView_->setMinimumSize(320, 240);
imageView_->setAlpha(255);
cloudView_->setCameraFree();
cloudView_->setCameraTargetLocked();
cloudView_->setGridShown(true);
QLabel * maxCloudsLabel = new QLabel("Max clouds", this);
QLabel * voxelLabel = new QLabel("Voxel", this);
QLabel * maxDepthLabel = new QLabel("Max depth", this);
QLabel * decimationLabel = new QLabel("Decimation", this);
maxCloudsSpin_ = new QSpinBox(this);
maxCloudsSpin_->setMinimum(0);
@@ -84,6 +86,13 @@ OdometryViewer::OdometryViewer(int maxClouds, int decimation, float voxelSize, i
voxelSpin_->setSingleStep(0.01);
voxelSpin_->setSuffix(" m");
voxelSpin_->setValue(voxelSize);
maxDepthSpin_ = new QDoubleSpinBox(this);
maxDepthSpin_->setMinimum(0);
maxDepthSpin_->setMaximum(100);
maxDepthSpin_->setDecimals(0);
maxDepthSpin_->setSingleStep(1);
maxDepthSpin_->setSuffix(" m");
maxDepthSpin_->setValue(maxDepth);
decimationSpin_ = new QSpinBox(this);
decimationSpin_->setMinimum(1);
decimationSpin_->setMaximum(16);
@@ -107,6 +116,8 @@ OdometryViewer::OdometryViewer(int maxClouds, int decimation, float voxelSize, i
hlayout2->addWidget(maxCloudsSpin_);
hlayout2->addWidget(voxelLabel);
hlayout2->addWidget(voxelSpin_);
hlayout2->addWidget(maxDepthLabel);
hlayout2->addWidget(maxDepthSpin_);
hlayout2->addWidget(decimationLabel);
hlayout2->addWidget(decimationSpin_);
hlayout2->addWidget(timeLabel_);
@@ -170,25 +181,32 @@ void OdometryViewer::processData(const rtabmap::SensorData & data, const rtabmap
cloudView_->setBackgroundColor(Qt::black);
}
timeLabel_->setText(QString("%1 s").arg(info.time));
timeLabel_->setText(QString("%1 s").arg(info.timeEstimation));
if(!data.image().empty() && !data.depthOrRightImage().empty() && data.fx()>0.0f && data.fyOrBaseline()>0.0f)
{
UDEBUG("New pose = %s, quality=%d", data.pose().prettyPrint().c_str(), quality);
if(data.image().cols % decimationSpin_->value() == 0 &&
data.image().rows % decimationSpin_->value() == 0)
if(!data.depth().empty())
{
validDecimationValue_ = decimationSpin_->value();
if(data.image().cols % decimationSpin_->value() == 0 &&
data.image().rows % decimationSpin_->value() == 0)
{
validDecimationValue_ = decimationSpin_->value();
}
else
{
UWARN("Decimation (%d) must be a denominator of the width and height of "
"the image (%d/%d). Using last valid decimation value (%d).",
decimationSpin_->value(),
data.image().cols,
data.image().rows,
validDecimationValue_);
}
}
else
{
UWARN("Decimation (%d) must be a denominator of the width and height of "
"the image (%d/%d). Using last valid decimation value (%d).",
decimationSpin_->value(),
data.image().cols,
data.image().rows,
validDecimationValue_);
validDecimationValue_ = decimationSpin_->value();
}
@@ -214,6 +232,11 @@ void OdometryViewer::processData(const rtabmap::SensorData & data, const rtabmap
validDecimationValue_);
}
if(maxDepthSpin_->value() > 0.0f && cloud->size())
{
cloud = util3d::passThrough(cloud, "z", 0, maxDepthSpin_->value());
}
if(voxelSpin_->value() > 0.0f && cloud->size())
{
cloud = util3d::voxelize(cloud, voxelSpin_->value());