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Added CalibrationDialog in Preferences->source for convenience. The database is also changed to handle new FX, FY, CX and CY intrinsic parameters instead of only depthConstant parameter. Added version of the database in a new table Admin. Updated to version 0.7.0.

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1613 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-26 04:36:00 +00:00
parent 1557b3d44d
commit f090c81aaf
44 changed files with 1389 additions and 715 deletions
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corelib/src/Memory.cpp
+34 -16
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@@ -1759,7 +1759,10 @@ Transform Memory::computeIcpTransform(const Signature & oldS, const Signature &
{
pcl::PointCloud<pcl::PointXYZ>::Ptr oldCloudXYZ = util3d::getICPReadyCloud(
oldDepth,
oldS.getDepthConstant(),
oldS.getDepthFx(),
oldS.getDepthFy(),
oldS.getDepthCx(),
oldS.getDepthCy(),
_icpDecimation,
_icpMaxDepth,
_icpVoxelSize,
@@ -1767,7 +1770,10 @@ Transform Memory::computeIcpTransform(const Signature & oldS, const Signature &
oldS.getLocalTransform());
pcl::PointCloud<pcl::PointXYZ>::Ptr newCloudXYZ = util3d::getICPReadyCloud(
newDepth,
newS.getDepthConstant(),
newS.getDepthFx(),
newS.getDepthFy(),
newS.getDepthCx(),
newS.getDepthCy(),
_icpDecimation,
_icpMaxDepth,
_icpVoxelSize,
@@ -2400,7 +2406,10 @@ void Memory::getImageDepth(
std::vector<unsigned char> & rgb,
std::vector<unsigned char> & depth,
std::vector<unsigned char> & depth2d,
float & depthConstant,
float & fx,
float & fy,
float & cx,
float & cy,
Transform & localTransform) const
{
const Signature * s = this->getSignature(locationId);
@@ -2409,12 +2418,15 @@ void Memory::getImageDepth(
rgb = s->getImage();
depth = s->getDepth();
depth2d = s->getDepth2D();
depthConstant = s->getDepthConstant();
fx = s->getDepthFx();
fy = s->getDepthFy();
cx = s->getDepthCx();
cy = s->getDepthCy();
localTransform = s->getLocalTransform();
}
if(rgb.empty() && this->isRawDataKept() && _dbDriver)
{
_dbDriver->getNodeData(locationId, rgb, depth, depth2d, depthConstant, localTransform);
_dbDriver->getNodeData(locationId, rgb, depth, depth2d, fx, fy, cx, cy, localTransform);
}
}
@@ -2782,12 +2794,12 @@ void Memory::copyData(const Signature * from, Signature * to)
std::vector<unsigned char> image;
std::vector<unsigned char> depth;
std::vector<unsigned char> depth2d;
float depthConstant;
float fx, fy, cx, cy;
Transform localTransform;
_dbDriver->getNodeData(from->id(), image, depth, depth2d, depthConstant, localTransform);
_dbDriver->getNodeData(from->id(), image, depth, depth2d, fx, fy, cx, cy, localTransform);
to->setImage(image);
to->setDepth(depth, depthConstant);
to->setDepth(depth, fx, fy, cx, cy);
to->setDepth2D(depth2d);
to->setLocalTransform(localTransform);
@@ -2796,7 +2808,7 @@ void Memory::copyData(const Signature * from, Signature * to)
else
{
to->setImage(from->getImage());
to->setDepth(from->getDepth(), from->getDepthConstant());
to->setDepth(from->getDepth(), from->getDepthFx(), from->getDepthFy(), from->getDepthCx(), from->getDepthCy());
to->setDepth2D(from->getDepth2D());
to->setLocalTransform(from->getLocalTransform());
}
@@ -2814,7 +2826,10 @@ void Memory::copyData(const Signature * from, Signature * to)
void Memory::extractKeypointsAndDescriptors(
const cv::Mat & image,
const cv::Mat & depth,
float depthConstant,
float fx,
float fy,
float cx,
float cy,
std::vector<cv::KeyPoint> & keypoints,
cv::Mat & descriptors)
{
@@ -2827,7 +2842,7 @@ void Memory::extractKeypointsAndDescriptors(
keypoints = _feature2D->generateKeypoints(image, 0, roi);
UDEBUG("time keypoints (%d) = %fs", (int)keypoints.size(), timer.ticks());
filterKeypointsByDepth(keypoints, depth, depthConstant, _wordsMaxDepth);
filterKeypointsByDepth(keypoints, depth, fx, fy, cx, cy, _wordsMaxDepth);
limitKeypoints(keypoints, _wordsPerImageTarget);
}
@@ -2923,7 +2938,7 @@ Signature * Memory::createSignature(const Image & image, bool keepRawData)
descriptors = image.descriptors();
keypoints = image.keypoints();
}
filterKeypointsByDepth(keypoints, descriptors, image.depth(), image.depthConstant(), _wordsMaxDepth);
filterKeypointsByDepth(keypoints, descriptors, image.depth(), image.depthFx(), image.depthFy(), image.depthCx(), image.depthCy(), _wordsMaxDepth);
limitKeypoints(keypoints, descriptors, _wordsPerImageTarget);
}
else
@@ -2940,7 +2955,7 @@ Signature * Memory::createSignature(const Image & image, bool keepRawData)
imageMono = image.image();
}
this->extractKeypointsAndDescriptors(imageMono, image.depth(), image.depthConstant(), keypoints, descriptors);
this->extractKeypointsAndDescriptors(imageMono, image.depth(), image.depthFx(), image.depthFy(), image.depthCx(), image.depthCy(), keypoints, descriptors);
UDEBUG("ratio=%f, meanWordsPerLocation=%d", _badSignRatio, meanWordsPerLocation);
if(descriptors.rows && descriptors.rows < _badSignRatio * float(meanWordsPerLocation))
@@ -2998,9 +3013,9 @@ Signature * Memory::createSignature(const Image & image, bool keepRawData)
//3d words
std::multimap<int, pcl::PointXYZ> words3;
if(!image.depth().empty() && image.depthConstant())
if(!image.depth().empty() && image.depthFx() && image.depthFy())
{
words3 = util3d::generateWords3(words, image.depth(), image.depthConstant(), image.localTransform());
words3 = util3d::generateWords3(words, image.depth(), image.depthFx(), image.depthFy(), image.depthCx(), image.depthCy(), image.localTransform());
}
Signature * s;
@@ -3025,7 +3040,10 @@ Signature * Memory::createSignature(const Image & image, bool keepRawData)
util3d::compressData(image.depth2d()),
imageBytes,
depthBytes,
image.depthConstant(),
image.depthFx(),
image.depthFy(),
image.depthCx(),
image.depthCy(),
image.localTransform());
}
else