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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/main.cpp
+67 -3
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@@ -36,12 +36,35 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "MapBuilder.h"
void showUsage()
{
printf("\nUsage:\n"
"rtabmap-rgbd_mapping driver\n"
" driver Driver number to use: 0=OpenNI-PCL, 1=OpenNI2, 2=Freenect, 3=OpenNI-CV, 4=OpenNI-CV-ASUS\n\n");
exit(1);
}
using namespace rtabmap;
int main(int argc, char * argv[])
{
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kWarning);
int driver = 0;
if(argc < 2)
{
showUsage();
}
else
{
driver = atoi(argv[argc-1]);
if(driver < 0 || driver > 4)
{
UERROR("driver should be between 0 and 4.");
showUsage();
}
}
// GUI stuff, there the handler will receive RtabmapEvent and construct the map
QApplication app(argc, argv);
MapBuilder mapBuilder;
@@ -51,8 +74,49 @@ int main(int argc, char * argv[])
// Create the OpenNI camera, it will send a CameraEvent at the rate specified.
// Set transform to camera so z is up, y is left and x going forward
CameraRGBD * camera = new CameraOpenni("", 10, rtabmap::Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0));
//CameraRGBD * camera = new CameraFreenect(0, 10, rtabmap::Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0));
CameraRGBD * camera = 0;
Transform opticalRotation(0,0,1,0, -1,0,0,0, 0,-1,0,0);
if(driver == 1)
{
if(!CameraOpenNI2::available())
{
UERROR("Not built with OpenNI2 support...");
exit(-1);
}
camera = new CameraOpenNI2(0, opticalRotation);
}
else if(driver == 2)
{
if(!CameraFreenect::available())
{
UERROR("Not built with Freenect support...");
exit(-1);
}
camera = new CameraFreenect(0, 0, opticalRotation);
}
else if(driver == 3)
{
if(!CameraOpenNICV::available())
{
UERROR("Not built with OpenNI from OpenCV support...");
exit(-1);
}
camera = new CameraOpenNICV(false, 0, opticalRotation);
}
else if(driver == 4)
{
if(!CameraOpenNICV::available())
{
UERROR("Not built with OpenNI from OpenCV support...");
exit(-1);
}
camera = new CameraOpenNICV(true, 0, opticalRotation);
}
else
{
camera = new rtabmap::CameraOpenni("", 0, opticalRotation);
}
CameraThread cameraThread(camera);
if(!cameraThread.init())
{
@@ -61,7 +125,7 @@ int main(int argc, char * argv[])
}
// Create an odometry thread to process camera events, it will send OdometryEvent.
OdometryThread odomThread(new OdometryBOW()); // 0=SURF 1=SIFT
OdometryThread odomThread(new OdometryBOW());
// Create RTAB-Map to process OdometryEvent