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Refactored Odometry class:

Browse Source 
-new odometry parameters
-new Optical flow strategy
-Stereo data support 
Refactored SensorData class to support stereo images
Updated default parameters (mostly odometry ones)
util3d: new methods to handle/reconstruct 3D clouds from disparity image / stereo images
PreferencesDialog: added Odometry/BOW and Odometry/OpticalFLow panels.
DatabaseViewer: fixed a crash when database is empty. Added cloud reconstruction of stereo images if saved in database
Camera: added 1 second delay to avoid dark images at the starting


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1849 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-13 19:10:22 +00:00
parent a3f7415821
commit 8b67633b34
25 changed files with 2108 additions and 498 deletions
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corelib/src/Rtabmap.cpp
+15 -3
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@@ -1581,7 +1581,6 @@ bool Rtabmap::process(const SensorData & data)
if(_publishImage)
{
std::map<int, int> mapIds;
std::map<int, std::vector<unsigned char> > images;
std::map<int, std::vector<unsigned char> > depths;
std::map<int, std::vector<unsigned char> > depth2ds;
@@ -1629,7 +1628,6 @@ bool Rtabmap::process(const SensorData & data)
im = _memory->getImage(ids[i]);
}
UASSERT(_memory->getSignature(ids[i]) != 0);
mapIds.insert(std::make_pair(ids[i], _memory->getSignature(ids[i])->mapId()));
if(!im.empty())
{
images.insert(std::make_pair(ids[i], im));
@@ -1641,7 +1639,6 @@ bool Rtabmap::process(const SensorData & data)
UWARN("getting data[%d] time = %fs", (int)ids.size(), tmpTimer.ticks());
}
statistics_.setMapIds(mapIds);
statistics_.setImages(images);
statistics_.setDepths(depths);
statistics_.setDepth2ds(depth2ds);
@@ -1756,6 +1753,13 @@ bool Rtabmap::process(const SensorData & data)
//Poses, place this after Transfer! (_optimizedPoses may change)
if(_rgbdSlamMode)
{
std::map<int, int> mapIds;
for(std::map<int, Transform>::iterator iter=_optimizedPoses.begin(); iter!=_optimizedPoses.end(); ++iter)
{
mapIds.insert(std::make_pair(iter->first, _memory->getMapId(iter->first)));
}
statistics_.setMapIds(mapIds);
statistics_.setPoses(_optimizedPoses);
statistics_.setConstraints(_constraints);
statistics_.setMapCorrection(_mapCorrection);
@@ -2345,6 +2349,10 @@ void Rtabmap::get3DMap(std::map<int, std::vector<unsigned char> > & images,
mapIds.insert(std::make_pair(*iter, _memory->getMapId(*iter)));
}
}
else if(_memory->getStMem().size() || _memory->getWorkingMem().size())
{
UERROR("Last working signature is null!?");
}
}
void Rtabmap::getGraph(
@@ -2378,6 +2386,10 @@ void Rtabmap::getGraph(
mapIds.insert(std::make_pair(*iter, _memory->getMapId(*iter)));
}
}
else if(_memory->getStMem().size() || _memory->getWorkingMem().size())
{
UERROR("Last working signature is null!?");
}
}
void Rtabmap::readParameters(const std::string & configFile, ParametersMap & parameters)