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Added CameraRGBDImages class (read RGB-D images from a folder)

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This commit is contained in:
matlabbe
2015-07-30 14:17:29 -04:00
parent 38807bf12e
commit 2877a14360
24 changed files with 1315 additions and 237 deletions
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corelib/include/rtabmap/core/CameraModel.h
+30 -3
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@@ -60,6 +60,16 @@ public:
double cy,
const Transform & localTransform = Transform::getIdentity(),
double Tx = 0.0f);
// minimal to be saved
CameraModel(
const std::string & name,
double fx,
double fy,
double cx,
double cy,
const Transform & localTransform = Transform::getIdentity(),
double Tx = 0.0f);
virtual ~CameraModel() {}
bool isValid() const {return !K_.empty() &&
@@ -69,6 +79,7 @@ public:
fx()>0.0 &&
fy()>0.0;}
void setName(const std::string & name) {name_=name;}
const std::string & name() const {return name_;}
double fx() const {return P_.at<double>(0,0);}
@@ -89,8 +100,8 @@ public:
int imageWidth() const {return imageSize_.width;}
int imageWeight() const {return imageSize_.height;}
bool load(const std::string & filePath);
bool save(const std::string & filePath) const;
bool load(const std::string & directory, const std::string & cameraName);
bool save(const std::string & directory) const;
void scale(double scale);
@@ -143,13 +154,29 @@ public:
right_(fx, fy, cx, cy, localTransform, baseline*-fx)
{
}
//minimal to be saved
StereoCameraModel(
const std::string & name,
double fx,
double fy,
double cx,
double cy,
double baseline,
const Transform & localTransform = Transform::getIdentity()) :
left_(name+"_left", fx, fy, cx, cy, localTransform),
right_(name+"_right", fx, fy, cx, cy, localTransform, baseline*-fx),
name_(name)
{
}
virtual ~StereoCameraModel() {}
bool isValid() const {return left_.isValid() && right_.isValid() && baseline() > 0.0;}
void setName(const std::string & name);
const std::string & name() const {return name_;}
bool load(const std::string & directory, const std::string & cameraName, bool ignoreStereoTransform = true);
bool save(const std::string & directory, const std::string & cameraName, bool ignoreStereoTransform = true) const;
bool save(const std::string & directory, bool ignoreStereoTransform = true) const;
double baseline() const {return -right_.Tx()/right_.fx();}