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Stereo! The memory can now handle directly stereo images. Disparity can be computed on the fly by keeping left and right images, so for features extraction (and for re-extraction on loop closure), we can compute 3D points precisely. New parameters can be found under "RGB-D Mapping->Stereo". Full image disparity is reconstructed in the GUI (not the core).

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1861 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-16 00:14:23 +00:00
parent 8f451029e2
commit fcd3301665
18 changed files with 1230 additions and 260 deletions
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examples/RGBDMapping/MapBuilder.h
+22 -8
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@@ -46,7 +46,9 @@ class MapBuilder : public QWidget, public UEventsHandler
{
Q_OBJECT
public:
MapBuilder()
MapBuilder() :
_processingStatistics(false),
_lastOdometryProcessed(true)
{
this->setWindowFlags(Qt::Dialog);
this->setWindowTitle(tr("3D Map"));
@@ -60,7 +62,7 @@ public:
this->setLayout(layout);
qRegisterMetaType<rtabmap::Statistics>("rtabmap::Statistics");
qRegisterMetaType<rtabmap::SensorData>("rtabmap::Image");
qRegisterMetaType<rtabmap::SensorData>("rtabmap::SensorData");
}
virtual ~MapBuilder()
@@ -128,15 +130,14 @@ private slots:
}
}
cloudViewer_->render();
_lastOdometryProcessed = true;
}
void processStatistics(const rtabmap::Statistics & stats)
{
if(!this->isVisible())
{
return;
}
_processingStatistics = true;
const std::map<int, Transform> & poses = stats.poses();
QMap<std::string, Transform> clouds = cloudViewer_->getAddedClouds();
@@ -198,6 +199,8 @@ private slots:
}
cloudViewer_->render();
_processingStatistics = false;
}
protected:
@@ -208,19 +211,30 @@ protected:
RtabmapEvent * rtabmapEvent = (RtabmapEvent *)event;
const Statistics & stats = rtabmapEvent->getStats();
// Statistics must be processed in the Qt thread
QMetaObject::invokeMethod(this, "processStatistics", Q_ARG(rtabmap::Statistics, stats));
if(this->isVisible())
{
QMetaObject::invokeMethod(this, "processStatistics", Q_ARG(rtabmap::Statistics, stats));
}
}
else if(event->getClassName().compare("OdometryEvent") == 0)
{
OdometryEvent * odomEvent = (OdometryEvent *)event;
// Odometry must be processed in the Qt thread
QMetaObject::invokeMethod(this, "processOdometry", Q_ARG(rtabmap::SensorData, odomEvent->data()));
if(this->isVisible() &&
_lastOdometryProcessed &&
!_processingStatistics)
{
_lastOdometryProcessed = false; // if we receive too many odometry events!
QMetaObject::invokeMethod(this, "processOdometry", Q_ARG(rtabmap::SensorData, odomEvent->data()));
}
}
}
private:
CloudViewer * cloudViewer_;
Transform lastOdomPose_;
bool _processingStatistics;
bool _lastOdometryProcessed;
};