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Added CalibrationDialog in Preferences->source for convenience. The database is also changed to handle new FX, FY, CX and CY intrinsic parameters instead of only depthConstant parameter. Added version of the database in a new table Admin. Updated to version 0.7.0.

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1613 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-26 04:36:00 +00:00
parent 1557b3d44d
commit f090c81aaf
44 changed files with 1389 additions and 715 deletions
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guilib/src/DatabaseViewer.cpp
+32 -32
View File
@@ -200,17 +200,17 @@ void DatabaseViewer::exportDatabase()
{
int id = ids_.at(i);
std::vector<unsigned char> compressedRgb, compressedDepth, compressedDepth2d;
float tmpDepthConstant;
float tmpFx, tmpFy, tmpCx, tmpCy;
rtabmap::Transform tmpLocalTransform, pose;
memory_->getImageDepth(id, compressedRgb, compressedDepth, compressedDepth2d, tmpDepthConstant, tmpLocalTransform);
memory_->getImageDepth(id, compressedRgb, compressedDepth, compressedDepth2d, tmpFx, tmpFy, tmpCx, tmpCy, tmpLocalTransform);
if(dialog.isOdomExported())
{
memory_->getPose(id, pose, true);
}
cv::Mat rgb, depth, depth2d;
float depthConstant = 0;
float fx = 0, fy = 0, cx = 0, cy = 0;
rtabmap::Transform localTransform;
if(dialog.isRgbExported())
@@ -220,7 +220,10 @@ void DatabaseViewer::exportDatabase()
if(dialog.isDepthExported())
{
depth = rtabmap::util3d::uncompressImage(compressedDepth);
depthConstant = tmpDepthConstant;
fx = tmpFx;
fy = tmpFy;
cx = tmpCx;
cy = tmpCy;
localTransform = tmpLocalTransform;
}
if(dialog.isDepth2dExported())
@@ -228,7 +231,7 @@ void DatabaseViewer::exportDatabase()
depth2d = rtabmap::util3d::uncompressData(compressedDepth2d);
}
rtabmap::Image data(rgb, depth, depth2d, depthConstant, pose, localTransform, id);
rtabmap::Image data(rgb, depth, depth2d, fx, fy, cx, cy, pose, localTransform, id);
recorder.addData(data);
progressDialog.appendText(tr("Exported node %1").arg(id));
@@ -518,17 +521,17 @@ void DatabaseViewer::view3DMap()
if(!pose.isNull())
{
std::vector<unsigned char> image, depth, depth2d;
float depthConstant;
float fx, fy, cx, cy;
rtabmap::Transform localTransform;
memory_->getImageDepth(iter->first, image, depth, depth2d, depthConstant, localTransform);
memory_->getImageDepth(iter->first, image, depth, depth2d, fx, fy, cx, cy, localTransform);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
cv::Mat imageMat = rtabmap::util3d::uncompressImage(image);
cv::Mat depthMat = rtabmap::util3d::uncompressImage(depth);
cloud = rtabmap::util3d::cloudFromDepthRGB(
imageMat,
depthMat,
depthMat.cols/2, depthMat.rows/2,
1.0f/depthConstant, 1.0f/depthConstant,
cx, cy,
fx, fy,
decimation);
if(maxDepth)
@@ -616,17 +619,17 @@ void DatabaseViewer::generate3DMap()
if(!pose.isNull())
{
std::vector<unsigned char> image, depth, depth2d;
float depthConstant;
float fx, fy, cx, cy;
rtabmap::Transform localTransform;
memory_->getImageDepth(iter->first, image, depth, depth2d, depthConstant, localTransform);
memory_->getImageDepth(iter->first, image, depth, depth2d, fx, fy, cx, cy, localTransform);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
cv::Mat imageMat = rtabmap::util3d::uncompressImage(image);
cv::Mat depthMat = rtabmap::util3d::uncompressImage(depth);
cloud = rtabmap::util3d::cloudFromDepthRGB(
imageMat,
depthMat,
depthMat.cols/2, depthMat.rows/2,
1.0f/depthConstant, 1.0f/depthConstant,
cx, cy,
fx, fy,
decimation);
if(maxDepth)
@@ -703,9 +706,9 @@ void DatabaseViewer::update(int value,
if(memory_)
{
std::vector<unsigned char> image, depth, depth2d;
float depthConstant;
float fx, fy, cx, cy;
rtabmap::Transform localTransform;
memory_->getImageDepth(id, image, depth, depth2d, depthConstant, localTransform);
memory_->getImageDepth(id, image, depth, depth2d, fx, fy, cx, cy, localTransform);
cv::Mat imageMat = rtabmap::util3d::uncompressImage(image);
cv::Mat depthMat = rtabmap::util3d::uncompressImage(depth);
if(!image.empty())
@@ -830,17 +833,18 @@ void DatabaseViewer::updateConstraintView(const rtabmap::Link & link)
ui_->horizontalSlider_A->setValue(idToIndex_.value(link.from()));
ui_->horizontalSlider_B->setValue(idToIndex_.value(link.to()));
float depthConstantA, depthConstantB;
float fxA, fyA, cxA, cyA;
float fxB, fyB, cxB, cyB;
rtabmap::Transform localTransformA, localTransformB;
std::vector<unsigned char> imageBytesA, depthBytesA, depth2dBytesA;
memory_->getImageDepth(link.from(), imageBytesA, depthBytesA, depth2dBytesA, depthConstantA, localTransformA);
memory_->getImageDepth(link.from(), imageBytesA, depthBytesA, depth2dBytesA, fxA, fyA, cxA, cyA, localTransformA);
cv::Mat imageA = rtabmap::util3d::uncompressImage(imageBytesA);
cv::Mat depthA = rtabmap::util3d::uncompressImage(depthBytesA);
cv::Mat depth2dA = rtabmap::util3d::uncompressData(depth2dBytesA);
std::vector<unsigned char> imageBytesB, depthBytesB, depth2dBytesB;
memory_->getImageDepth(link.to(), imageBytesB, depthBytesB, depth2dBytesB, depthConstantB, localTransformB);
memory_->getImageDepth(link.to(), imageBytesB, depthBytesB, depth2dBytesB, fxB, fyB, cxB, cyB, localTransformB);
cv::Mat imageB = rtabmap::util3d::uncompressImage(imageBytesB);
cv::Mat depthB = rtabmap::util3d::uncompressImage(depthBytesB);
cv::Mat depth2dB = rtabmap::util3d::uncompressData(depth2dBytesB);
@@ -850,10 +854,8 @@ void DatabaseViewer::updateConstraintView(const rtabmap::Link & link)
cloudA = rtabmap::util3d::cloudFromDepthRGB(
imageA,
depthA,
depthA.cols/2,
depthA.rows/2,
1.0f/depthConstantA,
1.0f/depthConstantA,
cxA, cyA,
fxA, fyA,
1);
cloudA = rtabmap::util3d::removeNaNFromPointCloud(cloudA);
@@ -863,10 +865,8 @@ void DatabaseViewer::updateConstraintView(const rtabmap::Link & link)
cloudB = rtabmap::util3d::cloudFromDepthRGB(
imageB,
depthB,
depthB.cols/2,
depthB.rows/2,
1.0f/depthConstantB,
1.0f/depthConstantB,
cxB, cyB,
fxB, fyB,
1);
cloudB = rtabmap::util3d::removeNaNFromPointCloud(cloudB);
@@ -908,13 +908,13 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
UINFO("Update scans list...");
for(int i=0; i<ids_.size(); ++i)
{
std::vector<unsigned char> imageBytesA, depthBytesA, depth2dBytesA;
float depthConstantA;
rtabmap::Transform localTransformA;
memory_->getImageDepth(ids_.at(i), imageBytesA, depthBytesA, depth2dBytesA, depthConstantA, localTransformA);
if(depth2dBytesA.size())
std::vector<unsigned char> imageBytes, depthBytes, depth2dBytes;
float fx, fy, cx, cy;
rtabmap::Transform localTransform;
memory_->getImageDepth(ids_.at(i), imageBytes, depthBytes, depth2dBytes, fx, fy, cx, cy, localTransform);
if(depth2dBytes.size())
{
scans_.insert(ids_.at(i), depth2dBytesA);
scans_.insert(ids_.at(i), depth2dBytes);
}
}
UINFO("Update scans list... done");