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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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14
corelib/src/StereoCameraModel.cpp
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@@ -130,9 +130,10 @@ StereoCameraModel::StereoCameraModel(
double cx,
double cy,
double baseline,
const Transform & localTransform) :
left_(fx, fy, cx, cy, localTransform),
right_(fx, fy, cx, cy, localTransform, baseline*-fx)
const Transform & localTransform,
const cv::Size & imageSize) :
left_(fx, fy, cx, cy, localTransform, 0, imageSize),
right_(fx, fy, cx, cy, localTransform, baseline*-fx, imageSize)
{
}
@@ -144,9 +145,10 @@ StereoCameraModel::StereoCameraModel(
double cx,
double cy,
double baseline,
const Transform & localTransform) :
left_(name+"_left", fx, fy, cx, cy, localTransform),
right_(name+"_right", fx, fy, cx, cy, localTransform, baseline*-fx),
const Transform & localTransform,
const cv::Size & imageSize) :
left_(name+"_left", fx, fy, cx, cy, localTransform, 0, imageSize),
right_(name+"_right", fx, fy, cx, cy, localTransform, baseline*-fx, imageSize),
name_(name)
{
}