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CameraRealSense2: Odom extrinsics against another sensor can be calibrated with having to calibrate stereo first. DBViewer: fixed local grid wrongly using global grid parameters.

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matlabbe
2021-11-05 18:05:50 -04:00
parent 20bc281db7
commit ddd5eb5a41
8 changed files with 112 additions and 48 deletions
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2
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -415,7 +415,7 @@ private:
void addParameters(const QGroupBox * box);
QList<QGroupBox*> getGroupBoxes();
void readSettingsBegin();
Camera * createCamera(Src driver, const QString & device, const QString & calibrationPath, bool useRawImages, bool useColor, bool odomOnly); // return camera should be deleted if not null
Camera * createCamera(Src driver, const QString & device, const QString & calibrationPath, bool useRawImages, bool useColor, bool odomOnly, bool odomSensorExtrinsicsCalib); // return camera should be deleted if not null
protected:
PANEL_FLAGS _obsoletePanels;

3
guilib/src/DatabaseViewer.cpp
View File

@@ -5025,6 +5025,7 @@ void DatabaseViewer::update(int value,
if(ui_->checkBox_showMap->isChecked())
{
float xMin=0.0f, yMin=0.0f;
cv::Mat map8S;
ParametersMap parameters = ui_->parameters_toolbox->getParameters();
parameters = Parameters::filterParameters(parameters, "GridGlobal", true);
float gridCellSize = Parameters::defaultGridCellSize();
@@ -5035,7 +5036,7 @@ void DatabaseViewer::update(int value,
map8S = octomap->createProjectionMap(xMin, yMin, gridCellSize, 0);
}
else
#endif
#endif
{
OccupancyGrid grid(parameters);
grid.setCellSize(gridCellSize);

10
guilib/src/PreferencesDialog.cpp
View File

@@ -5857,6 +5857,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
!_ui->checkBox_stereo_rectify->isChecked()) ||
useRawImages,
useColor,
false,
false);
}
@@ -5866,7 +5867,8 @@ Camera * PreferencesDialog::createCamera(
const QString & calibrationPath,
bool useRawImages,
bool useColor,
bool odomOnly)
bool odomOnly,
bool odomSensorExtrinsicsCalib)
{
if(odomOnly && !(driver == kSrcStereoRealSense2 || driver == kSrcStereoZed))
{
@@ -6014,7 +6016,7 @@ Camera * PreferencesDialog::createCamera(
if(driver == kSrcStereoRealSense2)
{
((CameraRealSense2*)camera)->setImagesRectified(!useRawImages);
((CameraRealSense2*)camera)->setOdomProvided(_ui->comboBox_odom_sensor->currentIndex() == 1 || odomOnly, odomOnly);
((CameraRealSense2*)camera)->setOdomProvided(_ui->comboBox_odom_sensor->currentIndex() == 1 || odomOnly, odomOnly, odomSensorExtrinsicsCalib);
}
else
{
@@ -6383,7 +6385,7 @@ Camera * PreferencesDialog::createOdomSensor(Transform & extrinsics, double & ti
timeOffset = _ui->doubleSpinBox_odom_sensor_time_offset->value()/1000.0;
scaleFactor = (float)_ui->doubleSpinBox_odom_sensor_scale_factor->value();
return createCamera(driver, _ui->lineEdit_odomSourceDevice->text(), _ui->lineEdit_odom_sensor_path_calibration->text(), false, true, true);
return createCamera(driver, _ui->lineEdit_odomSourceDevice->text(), _ui->lineEdit_odom_sensor_path_calibration->text(), false, true, true, false);
}
return 0;
}
@@ -7060,7 +7062,7 @@ void PreferencesDialog::calibrateOdomSensorExtrinsics()
odomDriver,
_ui->lineEdit_odomSourceDevice->text(),
_ui->lineEdit_odom_sensor_path_calibration->text(),
false, true, false); // Odom sensor
false, true, false, true); // Odom sensor
if(!camera)
{
return;