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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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24
guilib/src/OdometryViewer.cpp
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@@ -98,12 +98,24 @@ void OdometryViewer::processData()
// visualization: buffering the clouds
// Create the new cloud
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
cloud = util3d::cloudFromDepthRGB(
data.image(),
data.depth(),
data.cx(), data.cy(),
data.fx(), data.fy(),
decimation_);
if(data.depth().type() == CV_8UC1)
{
cloud = util3d::cloudFromStereoImages(
data.image(),
data.depth(),
data.cx(), data.cy(),
data.fx(), data.fy(),
decimation_);
}
else
{
cloud = util3d::cloudFromDepthRGB(
data.image(),
data.depth(),
data.cx(), data.cy(),
data.fx(), data.fy(),
decimation_);
}
if(voxelSize_ > 0.0f)
{