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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
This commit is contained in:
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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23
tools/OdometryViewer/main.cpp
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@@ -44,8 +44,8 @@ void showUsage()
"odometryViewer [options]\n"
"Options:\n"
" -driver # Driver number to use: 0=OpenNI-PCL, 1=OpenNI2, 2=Freenect, 3=OpenNI-CV, 4=OpenNI-CV-ASUS\n"
" -o # Odometry type (default 0): 0=SURF, 1=SIFT, 2=ORB, 3=FAST/FREAK, 4=FAST/BRIEF, 5=GFTT/FREAK, 6=GFTT/BRIEF, 7=BRISK\n"
" -nn # Nearest neighbor strategy (default 1): kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4\n"
" -o # Odometry type (default 6): 0=SURF, 1=SIFT, 2=ORB, 3=FAST/FREAK, 4=FAST/BRIEF, 5=GFTT/FREAK, 6=GFTT/BRIEF, 7=BRISK\n"
" -nn # Nearest neighbor strategy (default 3): kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4\n"
" -nndr # Nearest neighbor distance ratio (default 0.7)\n"
" -icp Use ICP odometry\n"
" -flow Use optical flow odometry.\n"
@@ -55,17 +55,17 @@ void showUsage()
" -clouds # Maximum clouds shown (default 10, zero means inf)\n"
" -sec #.# Delay (seconds) before reading the database (if set)\n"
"\n"
" -in #.# Inliers maximum distance, features/ICP (default 0.005 m)\n"
" -in #.# Inliers maximum distance, features/ICP (default 0.01 m)\n"
" -max # Max features used for matching (default 0=inf)\n"
" -min # Minimum inliers to accept the transform (default 20)\n"
" -depth #.# Maximum features depth (default 5.0 m)\n"
" -i # RANSAC/ICP iterations (default 100)\n"
" -i # RANSAC/ICP iterations (default 30)\n"
" -r #.# Words ratio (default 0.5)\n"
" -lu # Linear update (default 0.0 m)\n"
" -au # Angular update (default 0.0 radian)\n"
" -reset # Reset countdown (default 0 = disabled)\n"
" -gpu Use GPU\n"
" -lh # Local history (default 0)\n"
" -lh # Local history (default 1000)\n"
"\n"
" -brief_bytes # BRIEF bytes (default 32)\n"
" -fast_thr # FAST threshold (default 30)\n"
@@ -84,7 +84,7 @@ void showUsage()
" odometryViewer -odom 4 -nn 2 -lh 1000 FAST/BRIEF example\n"
" odometryViewer -odom 3 -nn 2 -lh 1000 FAST/FREAK example\n"
" odometryViewer -icp -in 0.05 -i 30 ICP example\n"
" odometryViewer -flow Optical flow example\n");
" odometryViewer -flow -in 0.02 Optical flow example\n");
exit(1);
}
@@ -97,17 +97,17 @@ int main (int argc, char * argv[])
float rate = 0.0;
std::string inputDatabase;
int driver = 0;
int odomType = 0;
int odomType = 6;
bool icp = false;
bool flow = false;
int nnType =1;
int nnType =3;
float nndr = 0.7f;
float distance = 0.005;
float distance = 0.01;
int maxWords = 0;
int minInliers = 20;
float wordsRatio = 0.5;
float maxDepth = 5.0f;
int iterations = 100;
int iterations = 30;
float linearUpdate = 0.0f;
float angularUpdate = 0.0f;
int resetCountdown = 0;
@@ -120,7 +120,7 @@ int main (int argc, char * argv[])
int fastThr = 30;
float sec = 0.0f;
bool gpu = false;
int localHistory = 0;
int localHistory = 1000;
bool p2p = false;
for(int i=1; i<argc; ++i)
@@ -683,6 +683,7 @@ int main (int argc, char * argv[])
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomInlierDistance(), uNumber2Str(distance)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomMinInliers(), uNumber2Str(minInliers)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomIterations(), uNumber2Str(iterations)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomFeatureType(), uNumber2Str(odomType)));
odom = new rtabmap::OdometryOpticalFlow(parameters);
}
else