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CameraThread: Added stereo to depth option. Added parameter "Mem/SaveDepth16Format".

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This commit is contained in:
matlabbe
2015-08-27 17:16:12 -04:00
parent 0651d5dfbd
commit ce2bbd8feb
16 changed files with 343 additions and 230 deletions
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2
corelib/include/rtabmap/core/CameraThread.h
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@@ -52,6 +52,7 @@ public:
void setMirroringEnabled(bool enabled) {_mirroring = enabled;}
void setColorOnly(bool colorOnly) {_colorOnly = colorOnly;}
void setStereoToDepth(bool enabled) {_stereoToDepth = enabled;}
//getters
bool isPaused() const {return !this->isRunning();}
@@ -68,6 +69,7 @@ private:
Camera * _camera;
bool _mirroring;
bool _colorOnly;
bool _stereoToDepth;
};
} // namespace rtabmap

1
corelib/include/rtabmap/core/Memory.h
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@@ -232,6 +232,7 @@ private:
float _similarityThreshold;
bool _rawDataKept;
bool _binDataKept;
bool _saveDepth16Format;
bool _notLinkedNodesKeptInDb;
bool _incrementalMemory;
int _maxStMemSize;

1
corelib/include/rtabmap/core/Parameters.h
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@@ -186,6 +186,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, RehearsalSimilarity, float, 0.6, "Rehearsal similarity.");
RTABMAP_PARAM(Mem, ImageKept, bool, false, "Keep raw images in RAM.");
RTABMAP_PARAM(Mem, BinDataKept, bool, true, "Keep binary data in db.");
RTABMAP_PARAM(Mem, SaveDepth16Format, bool, true, "Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters).");
RTABMAP_PARAM(Mem, NotLinkedNodesKept, bool, true, "Keep not linked nodes in db (rehearsed nodes and deleted nodes).");
RTABMAP_PARAM(Mem, STMSize, unsigned int, 10, "Short-term memory size.");
RTABMAP_PARAM(Mem, IncrementalMemory, bool, true, "SLAM mode, otherwise it is Localization mode.");

10
corelib/include/rtabmap/core/util2d.h
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@@ -41,7 +41,8 @@ namespace util2d
cv::Mat RTABMAP_EXP disparityFromStereoImages(
const cv::Mat & leftImage,
const cv::Mat & rightImage);
const cv::Mat & rightImage,
int type = CV_32FC1); // CV_32FC1 or CV_16SC1
cv::Mat RTABMAP_EXP disparityFromStereoImages(
const cv::Mat & leftImage,
@@ -53,6 +54,10 @@ cv::Mat RTABMAP_EXP disparityFromStereoImages(
double flowEps = 0.02,
float maxCorrespondencesSlope = 0.1f);
cv::Mat RTABMAP_EXP depthFromDisparity(const cv::Mat & disparity,
float fx, float baseline,
int type = CV_32FC1); // CV_32FC1 or CV_16UC1
cv::Mat RTABMAP_EXP depthFromStereoImages(
const cv::Mat & leftImage,
const cv::Mat & rightImage,
@@ -78,6 +83,9 @@ cv::Mat RTABMAP_EXP depthFromStereoCorrespondences(
const std::vector<unsigned char> & mask,
float fx, float baseline);
cv::Mat RTABMAP_EXP cvtDepthFromFloat(const cv::Mat & depth32F);
cv::Mat RTABMAP_EXP cvtDepthToFloat(const cv::Mat & depth16U);
float RTABMAP_EXP getDepth(
const cv::Mat & depthImage,
float x, float y,

7
corelib/include/rtabmap/core/util3d.h
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@@ -127,9 +127,6 @@ pcl::PointCloud<pcl::PointXYZ> RTABMAP_EXP laserScanFromDepthImage(
float maxDepth = 0,
const Transform & localTransform = Transform::getIdentity());
cv::Mat RTABMAP_EXP cvtDepthFromFloat(const cv::Mat & depth32F);
cv::Mat RTABMAP_EXP cvtDepthToFloat(const cv::Mat & depth16U);
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP laserScanToPointCloud(const cv::Mat & laserScan);
@@ -147,10 +144,6 @@ pcl::PointXYZ RTABMAP_EXP projectDisparityTo3D(
const cv::Mat & disparity,
float cx, float cy, float fx, float baseline);
cv::Mat RTABMAP_EXP depthFromDisparity(const cv::Mat & disparity,
float fx, float baseline,
int type = CV_32FC1);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP concatenateClouds(
const std::list<pcl::PointCloud<pcl::PointXYZ>::Ptr> & clouds);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP concatenateClouds(