updated

schdomin · Jul 8, 2015 · 5cb3c8c · 5cb3c8c
1 parent c485c02
commit 5cb3c8c
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Showing 29 changed files with 5,123 additions and 147 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -72,7 +72,9 @@ src/optimization/CBridgeG2O.cpp)
 
 add_executable(stereo_detector_alberto_node src/runnable/stereo_detector_alberto_node.cpp src/core/CTrackerStereo.cpp ${SOURCEFILES})
 add_executable(stereo_detector_mocked src/runnable/stereo_detector_mocked.cpp src/core/CMockedTrackerStereo.cpp ${SOURCEFILES_MOCKED})
-add_executable(test_depth src/runnable/test_depth.cpp ${SOURCEFILES})
+#add_executable(test_depth src/runnable/test_depth.cpp ${SOURCEFILES})
+add_executable(stereo_detector_free src/runnable/stereo_detector_free.cpp src/core/CTrackerStereoMotionModel.cpp ${SOURCEFILES})
+#add_executable(republisher_node src/runnable/republisher_node.cpp ${SOURCEFILES})
 
 #ds link the binaries against catkin
 #target_link_libraries(message_dumper_node ${catkin_LIBRARIES} ${Boost_LIBRARIES})
@@ -97,9 +99,27 @@ target_link_libraries(stereo_detector_mocked
                       ${G2O_CORE_LIBRARY} 
                       ${G2O_STUFF_LIBRARY}
                       ${G2O_TYPES_SBA})
-target_link_libraries(test_depth 
+#target_link_libraries(test_depth 
+#                      ${catkin_LIBRARIES} 
+#                      ${OpenCV_LIBRARIES}
+#                      -fopenmp)
+target_link_libraries(stereo_detector_free 
                       ${catkin_LIBRARIES} 
-                      ${OpenCV_LIBRARIES}
-                      -fopenmp)
+                      ${OpenCV_LIBRARIES}     
+                      ${G2O_OPENGL_HELPER_LIBRARY}
+                      ${G2O_SOLVER_CSPARSE_EXTENSION}
+                      ${G2O_TYPES_SLAM3D} 
+                      ${G2O_CORE_LIBRARY} 
+                      ${G2O_STUFF_LIBRARY}
+                      ${G2O_TYPES_SBA})
+#target_link_libraries(republisher_node 
+#                      ${catkin_LIBRARIES} 
+#                      ${OpenCV_LIBRARIES}     
+#                      ${G2O_OPENGL_HELPER_LIBRARY}
+#                      ${G2O_SOLVER_CSPARSE_EXTENSION}
+#                      ${G2O_TYPES_SLAM3D} 
+#                      ${G2O_CORE_LIBRARY} 
+#                      ${G2O_STUFF_LIBRARY}
+#                      ${G2O_TYPES_SBA})
 
 message("--------------------------------------------------------------------")
diff --git a/mocking/landmarks_nonoise.txt → mocking/landmarks_clean.txt b/mocking/landmarks_nonoise.txt → mocking/landmarks_clean.txt
diff --git a/mocking/landmarks_partialnoise.txt b/mocking/landmarks_partialnoise.txt
@@ -0,0 +1,27 @@
+6.0 5.0 1.0 2.0 20.0 6.0 -20.0 0.0 0.0
+1.0 5.0 1.0 2.0 20.0 6.0 -20.0 0.0 1.0
+0.5 10.0 1.0 2.0 20.0 30.0 -20.0 0.0 1.0
+1.0 15.0 1.0 2.0 20.0 30.0 -20.0 0.0 0.0
+3.0 20.0 1.0 2.0 20.0 7.0 -20.0 0.0 1.0
+6.0 9.0 1.0 2.0 20.0 6.0 -20.0 0.0 1.0
+10.0 10.0 1.0 2.0 15.0 30.0 10.0 0.0 1.0
+15.0 10.0 1.0 2.0 15.0 30.0 10.0 0.0 0.0
+20.0 10.0 1.0 2.0 15.0 30.0 10.0 0.0 1.0
+25.0 10.0 1.0 2.0 15.0 30.0 10.0 0.0 0.0
+5.0 15.0 1.0 2.0 15.0 30.0 -20.0 0.0 0.0
+10.0 15.0 1.0 2.0 15.0 30.0 10.0 0.0 1.0
+15.0 15.0 1.0 2.0 15.0 30.0 10.0 0.0 0.0
+20.0 15.0 1.0 2.0 15.0 30.0 10.0 0.0 1.0
+25.0 15.0 1.0 2.0 15.0 30.0 10.0 0.0 1.0
+28.0 11 1.0 2.0 15.0 30.0 10.0 0.0 1.0
+28.0 14 1.0 2.0 15.0 30.0 10.0 0.0 0.0
+-1.0 0.0 1.0 -2.0 2.0 5.0 -2.0 0.0 1.0
+0.0 0.5 1.0 -2.0 2.0 3.0 -2.0 0.0 1.0
+7.0 0.0 1.0 2.0 20.0 6.0 -20.0 0.0 1.0
+6.0 -5.0 1.0 2.0 20.0 6.0 -20.0 0.0 0.0
+6.0 -10.0 1.0 2.0 20.0 6.0 -20.0 0.0 0.0
+6.0 -15.0 1.0 2.0 20.0 6.0 -20.0 0.0 1.0
+1.0 -5.0 1.0 2.0 20.0 6.0 -20.0 0.0 0.0
+0.5 -10.0 1.0 2.0 20.0 6.0 -20.0 0.0 1.0
+1 -15.0 1.0 2.0 20.0 6.0 -20.0 0.0 1.0
+3 -18.0 1.0 2.0 20.0 6.0 -20.0 0.0 1.0
diff --git a/src/configuration/CConfigurationCamera.h b/src/configuration/CConfigurationCamera.h
@@ -51,6 +51,9 @@ class CConfigurationCamera
 
     } RIGHT;
 
+    const static double matTransformationIntialAlberto[16];
+    const static double matTransformationIntialStandard[16];
+
 };
 
 //ds camera_1 (left)
@@ -91,4 +94,14 @@ const double CConfigurationCamera::RIGHT::matProjection[]             = {450.509
 
 const CPinholeCamera CConfigurationCamera::RIGHT::cPinholeCamera = CPinholeCamera( "RIGHT", matIntrinsic, vecDistortionCoefficients, matRectification, matProjection, matQuaternionFromIMU, vecTranslationFromIMU, uWidth, uHeight, dFocalLengthMeters );
 
+const double CConfigurationCamera::matTransformationIntialAlberto[] = { 0.994504,  0.0803288, 0.0671501, -3.14989,
+                                                                        0.052872,  0.168259, -0.984324,   0.0468936,
+                                                                       -0.0903682, 0.982464,  0.163087,  -1.38018,
+                                                                               0,  0,         0,          1};
+
+const double CConfigurationCamera::matTransformationIntialStandard[] = { 1, 0,  0, 0,
+                                                                         0, 0, -1, 0,
+                                                                         0, 1,  0, -1,
+                                                                         0, 0,  0, 1};
+
 #endif //#define CCONFIGURATIONCAMERA_H_