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Refactored OdometryOpticalFlow (added optical flow guess using previous odometry transform, merged stereo/depth stuff)

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This commit is contained in:
matlabbe
2015-06-15 14:44:44 -04:00
parent b8dccc2228
commit dfbf6e721e
14 changed files with 785 additions and 671 deletions
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8
corelib/include/rtabmap/core/Odometry.h
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@@ -63,6 +63,7 @@ public:
bool isPnPEstimationUsed() const {return _pnpEstimation;}
double getPnPReprojError() const {return _pnpReprojError;}
int getPnPFlags() const {return _pnpFlags;}
const Transform & previousTransform() const {return previousTransform_;}
private:
virtual Transform computeTransform(const SensorData & image, OdometryInfo * info = 0) = 0;
@@ -89,6 +90,8 @@ private:
Transform _pose;
int _resetCurrentCount;
double previousStamp_;
Transform previousTransform_;
float distanceTravelled_;
std::vector<ParticleFilter *> filters_;
@@ -133,9 +136,7 @@ public:
private:
virtual Transform computeTransform(const SensorData & image, OdometryInfo * info = 0);
Transform computeTransformStereo(const SensorData & image, OdometryInfo * info);
Transform computeTransformRGBD(const SensorData & image, OdometryInfo * info);
Transform computeTransformMono(const SensorData & image, OdometryInfo * info);
private:
//Parameters:
int flowWinSize_;
@@ -156,7 +157,6 @@ private:
Feature2D * feature2D_;
cv::Mat refFrame_;
cv::Mat refRightFrame_;
std::vector<cv::Point2f> refCorners_;
pcl::PointCloud<pcl::PointXYZ>::Ptr refCorners3D_;
};

2
corelib/include/rtabmap/core/OdometryInfo.h
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@@ -43,6 +43,7 @@ public:
timeEstimation(-1),
stamp(0),
interval(0),
distanceTravelled(0),
type(-1)
{}
bool lost;
@@ -57,6 +58,7 @@ public:
double interval;
Transform transform;
Transform transformFiltered;
float distanceTravelled;
int type; // 0=BOW, 1=Optical Flow, 2=ICP

17
corelib/include/rtabmap/core/util3d_features.h
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@@ -73,7 +73,22 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP generateKeypoints3DStereo(
int flowWinSize = 9,
int flowMaxLevel = 4,
int flowIterations = 20,
double flowEps = 0.02);
double flowEps = 0.02,
double maxCorrespondencesSlope = 0.0);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP generateKeypoints3DStereo(
const std::vector<cv::Point2f> & leftCorners,
const cv::Mat & leftImage,
const cv::Mat & rightImage,
float fx,
float baseline,
float cx,
float cy,
const Transform & transform = Transform::getIdentity(),
int flowWinSize = 9,
int flowMaxLevel = 4,
int flowIterations = 20,
double flowEps = 0.02,
double maxCorrespondencesSlope = 0.0);
std::multimap<int, pcl::PointXYZ> RTABMAP_EXP generateWords3DMono(
const std::multimap<int, cv::KeyPoint> & kpts,