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Merged master to devel

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matlabbe
2017-06-10 10:34:52 -04:00
parent e321e1bb2c dfc425a7c5
commit fa2199c3ea
12 changed files with 127 additions and 40 deletions
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28
corelib/src/CameraStereo.cpp
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@@ -1029,7 +1029,8 @@ SensorData CameraStereoZed::captureImage(CameraInfo * info)
sl::Pose pose;
zed_->getPosition(pose);
int trackingConfidence = pose.pose_confidence;
if (trackingConfidence)
// FIXME What does pose_confidence == -1 mean?
if (trackingConfidence>0)
{
info->odomPose = zedPoseToTransform(pose);
if (!info->odomPose.isNull())
@@ -1037,24 +1038,31 @@ SensorData CameraStereoZed::captureImage(CameraInfo * info)
//transform x->forward, y->left, z->up
Transform opticalTransform(0, 0, 1, 0, -1, 0, 0, 0, 0, -1, 0, 0);
info->odomPose = opticalTransform * info->odomPose * opticalTransform.inverse();
}
if (lost_)
{
info->odomCovariance = cv::Mat::eye(6, 6, CV_64FC1) * 9999.0f; // don't know transform with previous pose
lost_ = false;
UDEBUG("Init %s (var=%f)", info->odomPose.prettyPrint().c_str(), 9999.0f);
if (lost_)
{
info->odomCovariance = cv::Mat::eye(6, 6, CV_64FC1) * 9999.0f; // don't know transform with previous pose
lost_ = false;
UDEBUG("Init %s (var=%f)", info->odomPose.prettyPrint().c_str(), 9999.0f);
}
else
{
info->odomCovariance = cv::Mat::eye(6, 6, CV_64FC1) * 1.0f / float(trackingConfidence);
UDEBUG("Run %s (var=%f)", info->odomPose.prettyPrint().c_str(), 1.0f / float(trackingConfidence));
}
}
else
{
info->odomCovariance = cv::Mat::eye(6, 6, CV_64FC1) * 1.0f / float(trackingConfidence);
UDEBUG("Run %s (var=%f)", info->odomPose.prettyPrint().c_str(), 1.0f / float(trackingConfidence));
info->odomCovariance = cv::Mat::eye(6, 6, CV_64FC1) * 9999.0f; // lost
lost_ = true;
UWARN("ZED lost! (trackingConfidence=%d)", trackingConfidence);
}
}
else
{
info->odomCovariance = cv::Mat::eye(6, 6, CV_64FC1) * 9999.0f; // lost
lost_ = true;
UWARN("ZED lost!");
UWARN("ZED lost! (trackingConfidence=%d)", trackingConfidence);
}
}
}

2
corelib/src/pcl18/surface/impl/texture_mapping.hpp
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@@ -1327,7 +1327,7 @@ pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras2 (
cv::Mat depth = cameras[current_cam].depth;
bool currentDepthSet = false;
float maxDepthError = max_depth_error_==0.0f?std::sqrt(iter->second.longestEdgeSqrd) : max_depth_error_;
float maxDepthError = max_depth_error_==0.0f?std::sqrt(iter->second.longestEdgeSqrd)*2.0f : max_depth_error_;
if(!cameras[current_cam].depth.empty() && maxDepthError > 0.0f)
{
float d1 = depth.type() == CV_32FC1?

7
corelib/src/util3d.cpp
View File

@@ -990,12 +990,9 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
decimation = 1;
}
UASSERT(!sensorData.imageRaw().empty());
UASSERT((!sensorData.depthRaw().empty() && sensorData.cameraModels().size()) ||
(!sensorData.rightRaw().empty() && sensorData.stereoCameraModel().isValidForProjection()));
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
if(!sensorData.depthRaw().empty() && sensorData.cameraModels().size())
if(!sensorData.imageRaw().empty() && !sensorData.depthRaw().empty() && sensorData.cameraModels().size())
{
//depth
UDEBUG("");
@@ -1090,7 +1087,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
}
}
}
else if(!sensorData.rightRaw().empty() && sensorData.stereoCameraModel().isValidForProjection())
else if(!sensorData.imageRaw().empty() && !sensorData.rightRaw().empty() && sensorData.stereoCameraModel().isValidForProjection())
{
//stereo
UDEBUG("");