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ZED driver: added option to use visual odometry approach from zed sdk. RtabmapThread: fixed thread state change on new map trigger on Odometry init (variance=9999). Odometry: on init, verify that the first frame is ok before sending first pose. Parameters: Mem/SaveDepth16Format is now false by default

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This commit is contained in:
matlabbe
2016-06-24 18:49:34 -04:00
parent af6e17fce8
commit e90c97f8a4
14 changed files with 335 additions and 175 deletions
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guilib/src/MainWindow.cpp
+20 -2
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@@ -761,6 +761,25 @@ void MainWindow::handleEvent(UEvent* anEvent)
else
{
emit cameraInfoReceived(cameraEvent->info());
if (_odomThread == 0 && _camera->camera()->odomProvided() && _preferencesDialog->isRGBDMode())
{
if (!_processingOdometry && !_processingStatistics)
{
_processingOdometry = true; // if we receive too many odometry events!
OdometryEvent tmp(cameraEvent->data(), cameraEvent->info().odomPose, cameraEvent->info().odomCovariance);
emit odometryReceived(tmp, false);
}
else
{
// we receive too many odometry events! just send without data
SensorData data(cv::Mat(), cameraEvent->data().id(), cameraEvent->data().stamp());
data.setCameraModels(cameraEvent->data().cameraModels());
data.setStereoCameraModel(cameraEvent->data().stereoCameraModel());
data.setGroundTruth(cameraEvent->data().groundTruth());
OdometryEvent tmp(data, cameraEvent->info().odomPose, cameraEvent->info().odomCovariance);
emit odometryReceived(tmp, true);
}
}
}
}
else if(anEvent->getClassName().compare("OdometryEvent") == 0)
@@ -3861,8 +3880,7 @@ void MainWindow::startDetection()
_odomThread = 0;
}
DBReader* dbReader = dynamic_cast<DBReader*>(camera);
if(dbReader == 0 || dbReader->isOdometryIgnored())
if(!camera->odomProvided())
{
Odometry * odom = Odometry::create(parameters);
_odomThread = new OdometryThread(odom, _preferencesDialog->getOdomBufferSize());