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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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guilib/src/DatabaseViewer.cpp
+11 -23
View File
@@ -1410,19 +1410,9 @@ void DatabaseViewer::updateConstraintView(const rtabmap::Link & link,
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudA;
if(depthA.type() == CV_8UC1)
{
cv::Mat leftImg;
if(imageA.channels() == 3)
{
cv::cvtColor(imageA, leftImg, CV_BGR2GRAY);
}
else
{
leftImg = imageA;
}
cv::Mat disparity = util3d::disparityFromStereoImages(leftImg, depthA);
cloudA = rtabmap::util3d::cloudFromDisparityRGB(
cloudA = rtabmap::util3d::cloudFromStereoImages(
imageA,
disparity,
depthA,
cxA, cyA,
fxA, fyA,
1);
@@ -1443,18 +1433,9 @@ void DatabaseViewer::updateConstraintView(const rtabmap::Link & link,
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudB;
if(depthB.type() == CV_8UC1)
{
cv::Mat leftImg;
if(imageB.channels() == 3)
{
cv::cvtColor(imageB, leftImg, CV_BGR2GRAY);
}
else
{
leftImg = imageB;
}
cloudB = rtabmap::util3d::cloudFromDisparityRGB(
cloudB = rtabmap::util3d::cloudFromStereoImages(
imageB,
util3d::disparityFromStereoImages(leftImg, depthB),
depthB,
cxB, cyB,
fxB, fyB,
1);
@@ -1786,6 +1767,13 @@ void DatabaseViewer::refineConstraint(int from, int to)
cv::Mat depthA = rtabmap::util3d::uncompressImage(depthBytesA);
cv::Mat depthB = rtabmap::util3d::uncompressImage(depthBytesB);
if(depthA.type() == CV_8UC1 || depthB.type() == CV_8UC1)
{
QMessageBox::critical(this, tr("ICP failed"), tr("ICP cannot be done on stereo images!"));
UERROR("ICP 3D cannot be done on stereo images!");
return;
}
cloudA = util3d::getICPReadyCloud(depthA,
fxA, fyA, cxA, cyA,
ui_->spinBox_icp_decimation->value(),