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Added parameter "Rtabmap/RectifyOnlyFeatures". Added support of fisheye distortion model.

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matlabbe
2018-09-24 14:36:54 -04:00
parent f903ffb927
commit c341648a44
14 changed files with 425 additions and 146 deletions
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1
corelib/include/rtabmap/core/CameraModel.h
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@@ -75,6 +75,7 @@ public:
virtual ~CameraModel() {}
void initRectificationMap();
bool isRectificationMapInitialized() {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;}

3
corelib/include/rtabmap/core/Memory.h
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@@ -302,6 +302,7 @@ private:
int _visMaxFeatures;
int _visCorType;
bool _imagesAlreadyRectified;
bool _rectifyOnlyFeatures;
bool _covOffDiagonalIgnored;
int _idCount;
@@ -312,6 +313,8 @@ private:
bool _linksChanged; // False by default, become true when links are modified.
int _signaturesAdded;
GPS _gpsOrigin;
std::vector<CameraModel> _rectCameraModels;
StereoCameraModel _rectStereoCameraModel;
std::map<int, Signature *> _signatures; // TODO : check if a signature is already added? although it is not supposed to occur...
std::set<int> _stMem; // id

1
corelib/include/rtabmap/core/Parameters.h
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@@ -188,6 +188,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Rtabmap, StartNewMapOnLoopClosure, bool, false, "Start a new map only if there is a global loop closure with a previous map.");
RTABMAP_PARAM(Rtabmap, StartNewMapOnGoodSignature, bool, false, uFormat("Start a new map only if the first signature is not bad (i.e., has enough features, see %s).", kKpBadSignRatio().c_str()));
RTABMAP_PARAM(Rtabmap, ImagesAlreadyRectified, bool, true, "Images are already rectified. By default RTAB-Map assumes that received images are rectified. If they are not, they can be rectified by RTAB-Map if this parameter is false.");
RTABMAP_PARAM(Rtabmap, RectifyOnlyFeatures, bool, false, uFormat("If \"%s\" is false and this parameter is true, the whole RGB image will not be rectified, only the features. Warning: As projection of RGB-D image to point cloud is assuming that images are rectified, the generated point cloud map will have wrong colors if this parameter is true.", kRtabmapImagesAlreadyRectified().c_str()));
// Hypotheses selection
RTABMAP_PARAM(Rtabmap, LoopThr, float, 0.11, "Loop closing threshold.");

1
corelib/include/rtabmap/core/Statistics.h
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@@ -137,6 +137,7 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(TimingMem, Descriptors_extraction, ms);
RTABMAP_STATS(TimingMem, Rectification, ms);
RTABMAP_STATS(TimingMem, Keypoints_3D, ms);
RTABMAP_STATS(TimingMem, Keypoints_3D_motion, ms);
RTABMAP_STATS(TimingMem, Joining_dictionary_update, ms);
RTABMAP_STATS(TimingMem, Add_new_words, ms);
RTABMAP_STATS(TimingMem, Compressing_data, ms);

1
corelib/include/rtabmap/core/StereoCameraModel.h
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@@ -86,6 +86,7 @@ public:
bool isValidForRectification() const {return left_.isValidForRectification() && right_.isValidForRectification();}
void initRectificationMap() {left_.initRectificationMap(); right_.initRectificationMap();}
bool isRectificationMapInitialized() {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_;}