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Stereo! The memory can now handle directly stereo images. Disparity can be computed on the fly by keeping left and right images, so for features extraction (and for re-extraction on loop closure), we can compute 3D points precisely. New parameters can be found under "RGB-D Mapping->Stereo". Full image disparity is reconstructed in the GUI (not the core).

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1861 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-10-16 00:14:23 +00:00
parent 8f451029e2
commit fcd3301665
18 changed files with 1230 additions and 260 deletions
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10
corelib/src/toro3d/transformation3.hxx
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@@ -216,7 +216,7 @@ inline Vector3<T> Quaternion<T>::toAngles() const{
T n = this->norm();
T s = n > 0?2./(n*n):0.;
T m00, m01, m02, m10, m11, m12, m20, m21, m22;
T m00, m10, m20, m21, m22;
T phi,theta,psi;
@@ -238,17 +238,17 @@ inline Vector3<T> Quaternion<T>::toAngles() const{
T zz = this->z*zs;
m00 = 1.0 - (yy + zz);
m11 = 1.0 - (xx + zz);
//m11 = 1.0 - (xx + zz);
m22 = 1.0 - (xx + yy);
m10 = xy + wz;
m01 = xy - wz;
//m01 = xy - wz;
m20 = xz - wy;
m02 = xz + wy;
//m02 = xz + wy;
m21 = yz + wx;
m12 = yz - wx;
//m12 = yz - wx;
phi = atan2(m21,m22);
theta = atan2(-m20,sqrt(m21*m21 + m22*m22));