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Added CameraInfo class (added Camera tab in Statistics panel). Scans/userData are not saved anymore when Mem/BinDataKept=false. StereoACameraImages: Fixed error when scan path is not set. Refactoring of OdometryOpticalFlow class to provide variance when 3D->2D estimation is used.

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matlabbe
2015-11-30 18:49:28 -05:00
parent d9c9db934a
commit e58f907440
18 changed files with 267 additions and 144 deletions
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corelib/src/util3d_features.cpp
+4 -1
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@@ -34,6 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/EpipolarGeometry.h"
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UMath.h>
#include <opencv2/video/tracking.hpp>
@@ -71,7 +72,9 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr generateKeypoints3DDepth(
for(unsigned int i=0; i!=keypoints.size(); ++i)
{
int cameraIndex = int(keypoints[i].pt.x / subImageWidth);
UASSERT(cameraIndex < (int)cameraModels.size());
UASSERT_MSG(cameraIndex < (int)cameraModels.size(),
uFormat("cameraIndex=%d, models=%d, kpt.x=%f, subImageWidth=%f",
cameraIndex, (int)cameraModels.size(), keypoints[i].pt.x, subImageWidth).c_str());
pcl::PointXYZ pt = util3d::projectDepthTo3D(
depth,
keypoints[i].pt.x-subImageWidth*cameraIndex,