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UI: Update preferences with the new imu filter parameters. Camera: added imu filtering option. Updated support for zedm, D435i and T265.

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This commit is contained in:
matlabbe
2019-05-13 18:42:46 -04:00
parent cbca362cc4
commit f8a8e55e7e
15 changed files with 762 additions and 262 deletions
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4
corelib/include/rtabmap/core/CameraThread.h
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@@ -45,6 +45,7 @@ class Camera;
class CameraInfo;
class SensorData;
class StereoDense;
class IMUFilter;
/**
* Class CameraThread
@@ -68,6 +69,8 @@ public:
void setDistortionModel(const std::string & path);
void enableBilateralFiltering(float sigmaS, float sigmaR);
void disableBilateralFiltering() {_bilateralFiltering = false;}
void enableIMUFiltering(int filteringStrategy=1, const ParametersMap & parameters = ParametersMap());
void disableIMUFiltering();
void setScanParameters(
bool fromDepth,
@@ -122,6 +125,7 @@ private:
bool _bilateralFiltering;
float _bilateralSigmaS;
float _bilateralSigmaR;
IMUFilter * _imuFilter;
};
} // namespace rtabmap

3
corelib/include/rtabmap/core/Odometry.h
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@@ -38,7 +38,6 @@ namespace rtabmap {
class OdometryInfo;
class ParticleFilter;
class IMUFilter;
class RTABMAP_EXP Odometry
{
@@ -92,7 +91,6 @@ private:
bool _holonomic;
bool guessFromMotion_;
bool guessSmoothingDelay_;
int _imuFilteringStrategy;
int _filteringStrategy;
int _particleSize;
float _particleNoiseT;
@@ -117,7 +115,6 @@ private:
std::vector<ParticleFilter *> particleFilters_;
cv::KalmanFilter kalmanFilter_;
IMUFilter * imuFilter_;
protected:
Odometry(const rtabmap::ParametersMap & parameters);

13
corelib/include/rtabmap/core/Parameters.h
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@@ -409,7 +409,6 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Odom, Holonomic, bool, true, "If the robot is holonomic (strafing commands can be issued). If not, y value will be estimated from x and yaw values (y=x*tan(yaw)).");
RTABMAP_PARAM(Odom, FillInfoData, bool, true, "Fill info with data (inliers/outliers features).");
RTABMAP_PARAM(Odom, ImageBufferSize, unsigned int, 1, "Data buffer size (0 min inf).");
RTABMAP_PARAM(Odom, ImuFilteringStrategy, int, 0, "0=No filtering 1=Madgwick Filter 2=Complementary Filter. This is used to estimate the quaternion from acceleration and angular velocities of IMU before doing odometry updates. IMU data should be in ENU coordinates.");
RTABMAP_PARAM(Odom, FilteringStrategy, int, 0, "0=No filtering 1=Kalman filtering 2=Particle filtering. This filter is used to smooth the odometry output.");
RTABMAP_PARAM(Odom, ParticleSize, unsigned int, 400, "Number of particles of the filter.");
RTABMAP_PARAM(Odom, ParticleNoiseT, float, 0.002, "Noise (m) of translation components (x,y,z).");
@@ -732,18 +731,6 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(ImuFilter, ComplementaryDoBiasEstimation, bool, true, "Parameter whether to do bias estimation or not.");
RTABMAP_PARAM(ImuFilter, ComplementaryDoAdpativeGain, bool, true, "Parameter whether to do adaptive gain or not.");
//
double gain_acc_;
//
double bias_alpha_;
//
bool do_bias_estimation_;
//
bool do_adaptive_gain_;
public:
virtual ~Parameters();

4
corelib/include/rtabmap/core/camera/CameraRealSense2.h
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@@ -82,7 +82,7 @@ public:
void pose_callback(rs2::frame frame);
void frame_callback(rs2::frame frame);
void multiple_message_callback(rs2::frame frame);
bool getPoseAndIMU(
void getPoseAndIMU(
const double & stamp,
Transform & pose,
unsigned int & poseConfidence,
@@ -110,6 +110,8 @@ private:
std::map<double, cv::Vec3f> accBuffer_;
std::map<double, cv::Vec3f> gyroBuffer_;
std::map<double, std::pair<Transform, unsigned int> > poseBuffer_; // <stamp, <Pose, confidence: 1=lost, 2=low, 3=high> >
UMutex poseMutex_;
UMutex imuMutex_;
bool emitterEnabled_;
bool irDepth_;