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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/SensorData.cpp
+27 -10
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@@ -27,6 +27,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/SensorData.h"
#include "rtabmap/utilite/ULogger.h"
namespace rtabmap
{
@@ -38,7 +39,7 @@ SensorData::SensorData() :
_image(cv::Mat()),
_id(0),
_fx(0.0f),
_fy(0.0f),
_fyOrBaseline(0.0f),
_cx(0.0f),
_cy(0.0f),
_localTransform(Transform::getIdentity())
@@ -50,18 +51,20 @@ SensorData::SensorData(const cv::Mat & image,
_image(image),
_id(id),
_fx(0.0f),
_fy(0.0f),
_fyOrBaseline(0.0f),
_cx(0.0f),
_cy(0.0f),
_localTransform(Transform::getIdentity())
{
UASSERT(image.type() == CV_8UC1 || // Mono
image.type() == CV_8UC3); // RGB
}
// Metric constructor
SensorData::SensorData(const cv::Mat & image,
const cv::Mat & depth,
const cv::Mat & depthOrRightImage,
float fx,
float fy,
float fyOrBaseline,
float cx,
float cy,
const Transform & pose,
@@ -69,22 +72,29 @@ SensorData::SensorData(const cv::Mat & image,
int id) :
_image(image),
_id(id),
_depth(depth),
_depthOrRightImage(depthOrRightImage),
_fx(fx),
_fy(fy),
_fyOrBaseline(fyOrBaseline),
_cx(cx),
_cy(cy),
_pose(pose),
_localTransform(localTransform)
{
UASSERT(image.type() == CV_8UC1 || // Mono
image.type() == CV_8UC3); // RGB
UASSERT(depthOrRightImage.type() == CV_32FC1 || // Depth in meter
depthOrRightImage.type() == CV_16UC1 || // Depth in millimetre
depthOrRightImage.type() == CV_8U); // Right stereo image
UASSERT(!depthOrRightImage.empty() && _fx>0.0f && _fyOrBaseline>0.0f && _cx>=0.0f && _cy>=0.0f);
UASSERT(!_localTransform.isNull());
}
// Metric constructor + 2d depth
SensorData::SensorData(const cv::Mat & image,
const cv::Mat & depth,
const cv::Mat & depthOrRightImage,
const cv::Mat & depth2d,
float fx,
float fy,
float fyOrBaseline,
float cx,
float cy,
const Transform & pose,
@@ -92,15 +102,22 @@ SensorData::SensorData(const cv::Mat & image,
int id) :
_image(image),
_id(id),
_depth(depth),
_depthOrRightImage(depthOrRightImage),
_depth2d(depth2d),
_fx(fx),
_fy(fy),
_fyOrBaseline(fyOrBaseline),
_cx(cx),
_cy(cy),
_pose(pose),
_localTransform(localTransform)
{
UASSERT(image.type() == CV_8UC1 || // Mono
image.type() == CV_8UC3); // RGB
UASSERT(depthOrRightImage.type() == CV_32FC1 || // Depth in meter
depthOrRightImage.type() == CV_16UC1 || // Depth in millimetre
depthOrRightImage.type() == CV_8U); // Right stereo image
UASSERT(!depthOrRightImage.empty() && _fx>0.0f && _fyOrBaseline>0.0f && _cx>=0.0f && _cy>=0.0f);
UASSERT(!_localTransform.isNull());
}
bool SensorData::empty() const