i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-03 16:47:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

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.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Rtabmap.cpp
+25 -10
View File
@@ -1482,7 +1482,10 @@ bool Rtabmap::process(const Image & image)
std::map<int, std::vector<unsigned char> > images;
std::map<int, std::vector<unsigned char> > depths;
std::map<int, std::vector<unsigned char> > depth2ds;
std::map<int, float> depthConstants;
std::map<int, float> depthFxs;
std::map<int, float> depthFys;
std::map<int, float> depthCxs;
std::map<int, float> depthCys;
std::map<int, Transform> localTransforms;
std::vector<int> ids(signaturesRetrieved.begin(), signaturesRetrieved.end());
@@ -1500,14 +1503,17 @@ bool Rtabmap::process(const Image & image)
if(_rgbdSlamMode)
{
std::vector<unsigned char> depth, depth2d;
float depthConstant;
float fx, fy, cx, cy;
Transform localTransform;
_memory->getImageDepth(ids[i], im, depth, depth2d, depthConstant, localTransform);
_memory->getImageDepth(ids[i], im, depth, depth2d, fx, fy, cx, cy, localTransform);
if(!depth.empty())
{
depths.insert(std::make_pair(ids[i], depth));
depthConstants.insert(std::make_pair(ids[i], depthConstant));
depthFxs.insert(std::make_pair(ids[i], fx));
depthFys.insert(std::make_pair(ids[i], fy));
depthCxs.insert(std::make_pair(ids[i], cx));
depthCys.insert(std::make_pair(ids[i], cy));
localTransforms.insert(std::make_pair(ids[i], localTransform));
}
if(!depth2d.empty())
@@ -1536,7 +1542,10 @@ bool Rtabmap::process(const Image & image)
statistics_.setImages(images);
statistics_.setDepths(depths);
statistics_.setDepth2ds(depth2ds);
statistics_.setDepthConstants(depthConstants);
statistics_.setDepthFxs(depthFxs);
statistics_.setDepthFys(depthFys);
statistics_.setDepthCxs(depthCxs);
statistics_.setDepthCys(depthCys);
statistics_.setLocalTransforms(localTransforms);
}
@@ -2153,7 +2162,10 @@ void Rtabmap::dumpPrediction() const
void Rtabmap::get3DMap(std::map<int, std::vector<unsigned char> > & images,
std::map<int, std::vector<unsigned char> > & depths,
std::map<int, std::vector<unsigned char> > & depths2d,
std::map<int, float> & depthConstants,
std::map<int, float> & depthFxs,
std::map<int, float> & depthFys,
std::map<int, float> & depthCxs,
std::map<int, float> & depthCys,
std::map<int, Transform> & localTransforms,
std::map<int, Transform> & poses,
std::multimap<int, Link> & constraints,
@@ -2182,9 +2194,9 @@ void Rtabmap::get3DMap(std::map<int, std::vector<unsigned char> > & images,
for(std::set<int>::iterator iter = ids.begin(); iter!=ids.end(); ++iter)
{
std::vector<unsigned char> image, depth, depth2d;
float depthConstant;
float fx, fy, cx, cy;
Transform localTransform;
_memory->getImageDepth(*iter, image, depth, depth2d, depthConstant, localTransform);
_memory->getImageDepth(*iter, image, depth, depth2d, fx, fy, cx, cy, localTransform);
if(image.size())
{
@@ -2198,9 +2210,12 @@ void Rtabmap::get3DMap(std::map<int, std::vector<unsigned char> > & images,
{
depths2d.insert(std::make_pair(*iter, depth2d));
}
if(depthConstant > 0)
if(fx > 0 && fy > 0)
{
depthConstants.insert(std::make_pair(*iter, depthConstant));
depthFxs.insert(std::make_pair(*iter, fx));
depthFys.insert(std::make_pair(*iter, fy));
depthCxs.insert(std::make_pair(*iter, cx));
depthCys.insert(std::make_pair(*iter, cy));
}
if(!localTransform.isNull())
{