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0.11.10: Database update with occupancy grid and laser scan info. Added class LaserScanInfo and OccupancyGrid (incremental 2d grid map). Gui: 2d grid and octomap are udpated using occupancy grids saved in nodes.

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matlabbe
2016-08-31 12:43:53 -04:00
parent af02e02978
commit 013eba1d58
49 changed files with 3376 additions and 1259 deletions
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corelib/src/CameraModel.cpp
+30
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@@ -383,6 +383,36 @@ CameraModel CameraModel::scaled(double scale) const
return scaledModel;
}
CameraModel CameraModel::roi(const cv::Rect & roi) const
{
CameraModel roiModel = *this;
if(this->isValidForProjection())
{
// has only effect on cx and cy
cv::Mat K;
if(!K_.empty())
{
K = K_.clone();
K.at<double>(0,2) -= roi.x;
K.at<double>(1,2) -= roi.y;
}
cv::Mat P;
if(!P_.empty())
{
P = P_.clone();
P.at<double>(0,2) -= roi.x;
P.at<double>(1,2) -= roi.y;
}
roiModel = CameraModel(name_, roi.size(), K, D_, R_, P, localTransform_);
}
else
{
UWARN("Trying to extract roi from a camera model not valid! Ignoring roi...");
}
return roiModel;
}
double CameraModel::horizontalFOV() const
{
if(imageWidth() > 0 && fx() > 0.0)