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Odometry: rectify stereo images for convenience if Rtabmap/ImagesAlreadyRectified is false and odometry strategy cannot process raw images

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matlabbe
2020-03-02 16:57:14 -05:00
parent 3ea64fbfc3
commit c2dde973a6
4 changed files with 36 additions and 6 deletions
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2
corelib/include/rtabmap/core/CameraModel.h
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@@ -75,7 +75,7 @@ public:
virtual ~CameraModel() {}
void initRectificationMap();
bool isRectificationMapInitialized() {return !mapX_.empty() && !mapY_.empty();}
bool isRectificationMapInitialized() const {return !mapX_.empty() && !mapY_.empty();}
bool isValidForProjection() const {return fx()>0.0 && fy()>0.0 && cx()>0.0 && cy()>0.0;}
bool isValidForReprojection() const {return fx()>0.0 && fy()>0.0 && cx()>0.0 && cy()>0.0 && imageWidth()>0 && imageHeight()>0;}

1
corelib/include/rtabmap/core/Odometry.h
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@@ -115,6 +115,7 @@ private:
std::vector<ParticleFilter *> particleFilters_;
cv::KalmanFilter kalmanFilter_;
StereoCameraModel stereoModel_;
protected:
Odometry(const rtabmap::ParametersMap & parameters);

2
corelib/include/rtabmap/core/StereoCameraModel.h
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@@ -86,7 +86,7 @@ public:
bool isValidForRectification() const {return left_.isValidForRectification() && right_.isValidForRectification();}
void initRectificationMap() {left_.initRectificationMap(); right_.initRectificationMap();}
bool isRectificationMapInitialized() {return left_.isRectificationMapInitialized() && right_.isRectificationMapInitialized();}
bool isRectificationMapInitialized() const {return left_.isRectificationMapInitialized() && right_.isRectificationMapInitialized();}
void setName(const std::string & name, const std::string & leftSuffix = "left", const std::string & rightSuffix = "right");
const std::string & name() const {return name_;}