i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

0.16.1: Added LaserScan class with new "format" field to distinguish easier between all kind of laser scans (XYZ, XYZRGB, XYZI, XYZNormal...)

Browse Source
This commit is contained in:
matlabbe
2018-02-16 19:20:54 -05:00
parent bfb3a58c01
commit d24097f73d
49 changed files with 2097 additions and 998 deletions
Download Patch File Download Diff File Expand all files Collapse all files

34
tools/KittiDataset/main.cpp
View File

@@ -58,7 +58,7 @@ void showUsage()
" --gt \"path\" Ground truth path (e.g., ~/KITTI/devkit/cpp/data/odometry/poses/07.txt)\n"
" --quiet Don't show log messages and iteration updates.\n"
" --color Use color images for stereo (image_2 and image_3 folders).\n"
" --scaling Scale stereo baseline on some sequences (03-04-05-06).\n"
" --height Add car's height to camera local transform (1.67m).\n"
" --disp Generate full disparity.\n"
" --exposure_comp Do exposure compensation between left and right images.\n"
" --scan Include velodyne scan in node's data.\n"
@@ -107,7 +107,7 @@ int main(int argc, char * argv[])
std::string outputName = "rtabmap";
std::string seq;
bool color = false;
bool scaling = false;
bool height = false;
bool scan = false;
bool disp = false;
bool exposureCompensation = false;
@@ -181,9 +181,9 @@ int main(int argc, char * argv[])
{
color = true;
}
else if(std::strcmp(argv[i], "--scaling") == 0)
else if(std::strcmp(argv[i], "--height") == 0)
{
scaling = true;
height = true;
}
else if(std::strcmp(argv[i], "--scan") == 0)
{
@@ -325,26 +325,6 @@ int main(int argc, char * argv[])
return -1;
}
if(scaling)
{
// scale baseline
if(uStr2Int(seq) == 3 || uStr2Int(seq) == 5 || uStr2Int(seq) == 9)
{
P1.at<double>(0,3) *= 0.9905;
printf(" Baseline scaling factor: %f\n", 0.9905);
}
else if(uStr2Int(seq) == 4)
{
P1.at<double>(0,3) *= 0.987000;
printf(" Baseline scaling factor: %f\n", 0.987000);
}
else if(uStr2Int(seq) == 6)
{
P1.at<double>(0,3) *= 0.985000;
printf(" Baseline scaling factor: %f\n", 0.985000);
}
}
StereoCameraModel model(outputName+"_calib",
image.size(), P0.colRange(0,3), cv::Mat(), cv::Mat(), P0,
image.size(), P1.colRange(0,3), cv::Mat(), cv::Mat(), P1,
@@ -373,7 +353,7 @@ int main(int argc, char * argv[])
}
// We use CameraThread only to use postUpdate() method
Transform opticalRotation(0,0,1,0, -1,0,0,color?-0.06:0, 0,-1,0,0);
Transform opticalRotation(0,0,1,0, -1,0,0,color?-0.06:0, 0,-1,0,height?1.67:0.0);
CameraThread cameraThread(new
CameraStereoImages(
pathLeftImages,
@@ -403,7 +383,7 @@ int main(int argc, char * argv[])
scanVoxel,
scanNormalK,
scanNormalRadius,
Transform(-0.27f, 0.0f, 0.08, 0.0f, 0.0f, 0.0f),
Transform(-0.27f, 0.0f, 0.08+(height?1.67f:0.0f), 0.0f, 0.0f, 0.0f),
true);
}
@@ -529,7 +509,7 @@ int main(int argc, char * argv[])
rmse = rtabmap.getStatistics().data().at(Statistics::kGtTranslational_rmse());
}
if(data.keypoints().size() == 0 && data.laserScanRaw().cols)
if(data.keypoints().size() == 0 && data.laserScanRaw().size())
{
if(rmse >= 0.0f)
{

1
tools/Report/main.cpp
View File

@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UMath.h>
#include <rtabmap/utilite/UPlot.h>
#include <rtabmap/utilite/ULogger.h>
#include <QApplication>
#include <stdio.h>