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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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guilib/src/PreferencesDialog.cpp
+9
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@@ -482,6 +482,15 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->odom_flow_subpix_iterations->setObjectName(Parameters::kOdomFlowSubPixIterations().c_str());
_ui->odom_flow_subpix_eps->setObjectName(Parameters::kOdomFlowSubPixEps().c_str());
//Stereo
_ui->stereo_winSize->setObjectName(Parameters::kStereoWinSize().c_str());
_ui->stereo_maxLevel->setObjectName(Parameters::kStereoMaxLevel().c_str());
_ui->stereo_iterations->setObjectName(Parameters::kStereoIterations().c_str());
_ui->stereo_eps->setObjectName(Parameters::kStereoEps().c_str());
_ui->stereo_subpix_winSize->setObjectName(Parameters::kStereoSubPixWinSize().c_str());
_ui->stereo_subpix_iterations->setObjectName(Parameters::kStereoSubPixIterations().c_str());
_ui->stereo_subpix_eps->setObjectName(Parameters::kStereoSubPixEps().c_str());
setupSignals();
// custom signals
connect(_ui->doubleSpinBox_kp_roi0, SIGNAL(valueChanged(double)), this, SLOT(updateKpROI()));