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OctoMap::createCloud() added cloud probability output option.

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CameraRealSense2: added new warnings to debug easier timestamps problems.
GUI: added gravity visualization.
DbViewer: empty clouds in OctoMap mode have color depending on probability of occupancy.
Brought general changes from local xvision branch.
This commit is contained in:
matlabbe
2020-01-22 10:34:21 -05:00
parent f9e818c900
commit ccc5a5be5a
14 changed files with 367 additions and 65 deletions
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corelib/src/StereoCameraModel.cpp
+22 -14
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@@ -88,14 +88,18 @@ StereoCameraModel::StereoCameraModel(
{
UASSERT(leftCameraModel.isValidForRectification() && rightCameraModel.isValidForRectification());
cv::Mat R1,R2,P1,P2,Q;
cv::stereoRectify(left_.K_raw(), left_.D_raw(),
right_.K_raw(), right_.D_raw(),
left_.imageSize(), R_, T_, R1, R2, P1, P2, Q,
cv::CALIB_ZERO_DISPARITY, 0, left_.imageSize());
if(left_.imageWidth() == right_.imageHeight())
{
cv::Mat R1,R2,P1,P2,Q;
cv::stereoRectify(
left_.K_raw(), left_.D_raw(),
right_.K_raw(), right_.D_raw(),
left_.imageSize(), R_, T_, R1, R2, P1, P2, Q,
cv::CALIB_ZERO_DISPARITY, 0, left_.imageSize());
left_ = CameraModel(left_.name(), left_.imageSize(), left_.K_raw(), left_.D_raw(), R1, P1, left_.localTransform());
right_ = CameraModel(right_.name(), right_.imageSize(), right_.K_raw(), right_.D_raw(), R2, P2, right_.localTransform());
left_ = CameraModel(left_.name(), left_.imageSize(), left_.K_raw(), left_.D_raw(), R1, P1, left_.localTransform());
right_ = CameraModel(right_.name(), right_.imageSize(), right_.K_raw(), right_.D_raw(), R2, P2, right_.localTransform());
}
}
}
@@ -120,14 +124,18 @@ StereoCameraModel::StereoCameraModel(
extrinsics.rotationMatrix().convertTo(R_, CV_64FC1);
extrinsics.translationMatrix().convertTo(T_, CV_64FC1);
cv::Mat R1,R2,P1,P2,Q;
cv::stereoRectify(left_.K_raw(), left_.D_raw(),
right_.K_raw(), right_.D_raw(),
left_.imageSize(), R_, T_, R1, R2, P1, P2, Q,
cv::CALIB_ZERO_DISPARITY, 0, left_.imageSize());
if(left_.imageWidth() == right_.imageHeight())
{
cv::Mat R1,R2,P1,P2,Q;
cv::stereoRectify(
left_.K_raw(), left_.D_raw(),
right_.K_raw(), right_.D_raw(),
left_.imageSize(), R_, T_, R1, R2, P1, P2, Q,
cv::CALIB_ZERO_DISPARITY, 0, left_.imageSize());
left_ = CameraModel(left_.name(), left_.imageSize(), left_.K_raw(), left_.D_raw(), R1, P1, left_.localTransform());
right_ = CameraModel(right_.name(), right_.imageSize(), right_.K_raw(), right_.D_raw(), R2, P2, right_.localTransform());
left_ = CameraModel(left_.name(), left_.imageSize(), left_.K_raw(), left_.D_raw(), R1, P1, left_.localTransform());
right_ = CameraModel(right_.name(), right_.imageSize(), right_.K_raw(), right_.D_raw(), R2, P2, right_.localTransform());
}
}
}