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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/LoopClosureViewer.cpp
+36 -12
View File
@@ -147,12 +147,24 @@ void LoopClosureViewer::updateView(const Transform & transform)
//cloud 3d
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudA;
cloudA = util3d::cloudFromDepthRGB(
imageA,
depthA,
sA_->getDepthCx(), sA_->getDepthCy(),
sA_->getDepthFx(), sA_->getDepthFy(),
decimation);
if(depthA.type() == CV_8UC1)
{
cloudA = util3d::cloudFromStereoImages(
imageA,
depthA,
sA_->getDepthCx(), sA_->getDepthCy(),
sA_->getDepthFx(), sA_->getDepthFy(),
decimation);
}
else
{
cloudA = util3d::cloudFromDepthRGB(
imageA,
depthA,
sA_->getDepthCx(), sA_->getDepthCy(),
sA_->getDepthFx(), sA_->getDepthFy(),
decimation);
}
cloudA = util3d::removeNaNFromPointCloud(cloudA);
@@ -167,12 +179,24 @@ void LoopClosureViewer::updateView(const Transform & transform)
cloudA = util3d::transformPointCloud(cloudA, sA_->getLocalTransform());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudB;
cloudB = util3d::cloudFromDepthRGB(
imageB,
depthB,
sB_->getDepthCx(), sB_->getDepthCy(),
sB_->getDepthFx(), sB_->getDepthFy(),
decimation);
if(depthB.type() == CV_8UC1)
{
cloudB = util3d::cloudFromStereoImages(
imageB,
depthB,
sB_->getDepthCx(), sB_->getDepthCy(),
sB_->getDepthFx(), sB_->getDepthFy(),
decimation);
}
else
{
cloudB = util3d::cloudFromDepthRGB(
imageB,
depthB,
sB_->getDepthCx(), sB_->getDepthCy(),
sB_->getDepthFx(), sB_->getDepthFy(),
decimation);
}
cloudB = util3d::removeNaNFromPointCloud(cloudB);