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ZED driver: added option to use visual odometry approach from zed sdk. RtabmapThread: fixed thread state change on new map trigger on Odometry init (variance=9999). Odometry: on init, verify that the first frame is ok before sending first pose. Parameters: Mem/SaveDepth16Format is now false by default

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This commit is contained in:
matlabbe
2016-06-24 18:49:34 -04:00
parent af6e17fce8
commit e90c97f8a4
14 changed files with 336 additions and 176 deletions
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1
corelib/include/rtabmap/core/Camera.h
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@@ -56,6 +56,7 @@ public:
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "") = 0;
virtual bool isCalibrated() const = 0;
virtual std::string getSerial() const = 0;
virtual bool odomProvided() const { return false; }
//getters
float getImageRate() const {return _imageRate;}

5
corelib/include/rtabmap/core/CameraStereo.h
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@@ -118,6 +118,7 @@ public:
int quality = 1, // 0=NONE, 1=PERFORMANCE, 2=QUALITY
int sensingMode = 1,// 0=FULL, 1=RAW
int confidenceThr = 100,
bool computeOdometry = false,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
CameraStereoZed(
@@ -125,6 +126,7 @@ public:
int quality = 1, // 0=NONE, 1=PERFORMANCE, 2=QUALITY
int sensingMode = 1,// 0=FULL, 1=RAW
int confidenceThr = 100,
bool computeOdometry = false,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraStereoZed();
@@ -132,6 +134,7 @@ public:
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
virtual bool odomProvided() const { return computeOdometry_; }
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
@@ -146,6 +149,8 @@ private:
int quality_;
int sensingMode_;
int confidenceThr_;
bool computeOdometry_;
bool lost_;
};
/////////////////////////

3
corelib/include/rtabmap/core/DBReader.h
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@@ -67,8 +67,7 @@ public:
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
bool isOdometryIgnored() const {return _odometryIgnored;}
virtual bool odometryProvided() const {return !_odometryIgnored;}
protected:
virtual SensorData captureImage(CameraInfo * info = 0);

2
corelib/include/rtabmap/core/Parameters.h
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@@ -194,7 +194,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, BinDataKept, bool, true, "Keep binary data in db.");
RTABMAP_PARAM(Mem, RawDescriptorsKept, bool, true, "Raw descriptors kept in memory.");
RTABMAP_PARAM(Mem, MapLabelsAdded, bool, true, "Create map labels. The first node of a map will be labelled as \"map#\" where # is the map ID.");
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, SaveDepth16Format, bool, false, "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.");

1
corelib/include/rtabmap/core/Rtabmap.h
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@@ -70,6 +70,7 @@ public:
void close(bool databaseSaved = true);
const std::string & getWorkingDir() const {return _wDir;}
bool isRGBDMode() const { return _rgbdSlamMode; }
int getLoopClosureId() const {return _loopClosureHypothesis.first;}
float getLoopClosureValue() const {return _loopClosureHypothesis.second;}
int getHighestHypothesisId() const {return _highestHypothesis.first;}