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https://github.com/introlab/rtabmap.git
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matlabbe
700704bec9
* Working rtabmap_lidar-mapping example (live and pcap) * finalizing merge, added some deprecated * fixed build * Working deskewing for Lidar + Camera/IMU (no camera pose correction yet) and Lidar + Odom Sensor in main UI. * backward compatibility * fixed some not used variable warnings, fixed qt build for lidar mapping example * Refactored CameraMobile, added AREngine background support, fixed LidarVPL16 build error with PCL 1.8 * ARCoreJava: buffer last depth image in case its stamp i higher than pose stamp. CameraMobile: added pose buffer. SensorCaptureThread: to get pose, odomSensor should be explicitly set, but can be same as lidar or camera inputs. * Working external lidar on iOS * util3d::commonFiltering()/adjustNormalsToViewPoint() added organized cloud support. MainWindow: updated odomSensor setup * fixed winsock include order * reverted camera tool * disable imu filtering when odom sensor is used * Updated package version * fixed windows build * fixing more windows build erros
84 lines
3.0 KiB
C++
84 lines
3.0 KiB
C++
/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "rtabmap/core/Camera.h"
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#include "rtabmap/core/IMUFilter.h"
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#include <rtabmap/utilite/UStl.h>
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#include <rtabmap/utilite/UFile.h>
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#include <rtabmap/utilite/UDirectory.h>
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#include <rtabmap/utilite/UEventsManager.h>
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namespace rtabmap
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{
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Camera::Camera(float imageRate, const Transform & localTransform) :
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SensorCapture(imageRate, localTransform*CameraModel::opticalRotation()),
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imuFilter_(0),
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publishInterIMU_(false)
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{}
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Camera::~Camera()
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{
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delete imuFilter_;
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}
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bool Camera::initFromFile(const std::string & calibrationPath)
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{
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return init(UDirectory::getDir(calibrationPath), uSplit(UFile::getName(calibrationPath), '.').front());
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}
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void Camera::setInterIMUPublishing(bool enabled, IMUFilter * filter)
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{
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publishInterIMU_ = enabled;
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delete imuFilter_;
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imuFilter_ = filter;
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}
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void Camera::postInterIMU(const IMU & imu, double stamp)
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{
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if(imuFilter_)
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{
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imuFilter_->update(
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imu.angularVelocity()[0], imu.angularVelocity()[1], imu.angularVelocity()[2],
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imu.linearAcceleration()[0], imu.linearAcceleration()[1], imu.linearAcceleration()[2],
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stamp);
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cv::Vec4d q;
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imuFilter_->getOrientation(q[0],q[1],q[2],q[3]);
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UEventsManager::post(new IMUEvent(IMU(
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q, cv::Mat(),
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imu.angularVelocity(), imu.angularVelocityCovariance(),
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imu.linearAcceleration(), imu.linearAccelerationCovariance(),
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imu.localTransform()),
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stamp));
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return;
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}
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UEventsManager::post(new IMUEvent(imu, stamp));
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}
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} // namespace rtabmap
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