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RegVis: if calibration is not found, local features matching using guess is not done, global matching is done instead. CameraModel/StereoCameraModel: added imageSize argument to constructors

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matlabbe
2016-03-09 17:15:05 -05:00
parent 49b5514319
commit 0f477d6853
5 changed files with 41 additions and 15 deletions
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6
corelib/include/rtabmap/core/CameraModel.h
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@@ -59,7 +59,8 @@ public:
double cx,
double cy,
const Transform & localTransform = Transform::getIdentity(),
double Tx = 0.0f);
double Tx = 0.0f,
const cv::Size & imageSize = cv::Size(0,0));
// minimal to be saved
CameraModel(
const std::string & name,
@@ -68,7 +69,8 @@ public:
double cx,
double cy,
const Transform & localTransform = Transform::getIdentity(),
double Tx = 0.0f);
double Tx = 0.0f,
const cv::Size & imageSize = cv::Size(0,0));
virtual ~CameraModel() {}

6
corelib/include/rtabmap/core/StereoCameraModel.h
View File

@@ -68,7 +68,8 @@ public:
double cx,
double cy,
double baseline,
const Transform & localTransform = Transform::getIdentity());
const Transform & localTransform = Transform::getIdentity(),
const cv::Size & imageSize = cv::Size(0,0));
//minimal to be saved
StereoCameraModel(
const std::string & name,
@@ -77,7 +78,8 @@ public:
double cx,
double cy,
double baseline,
const Transform & localTransform = Transform::getIdentity());
const Transform & localTransform = Transform::getIdentity(),
const cv::Size & imageSize = cv::Size(0,0));
virtual ~StereoCameraModel() {}
bool isValidForProjection() const {return left_.isValidForProjection() && right_.isValidForProjection() && baseline() > 0.0;}