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fixed windows build

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This commit is contained in:
Mathieu Labbé
2015-04-24 13:56:16 -04:00
parent a16a2d65cf
commit 2e706ed01f
6 changed files with 20 additions and 22 deletions
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2
corelib/include/rtabmap/core/CameraModel.h
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@@ -89,7 +89,7 @@ private:
cv::Mat mapY_;
};
class StereoCameraModel
class RTABMAP_EXP StereoCameraModel
{
public:
StereoCameraModel() {}

2
corelib/include/rtabmap/core/Odometry.h
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@@ -151,7 +151,7 @@ private:
pcl::PointCloud<pcl::PointXYZ>::Ptr refCorners3D_;
};
class OdometryMono : public Odometry
class RTABMAP_EXP OdometryMono : public Odometry
{
public:
OdometryMono(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());

16
corelib/src/CameraModel.cpp
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@@ -204,14 +204,14 @@ cv::Mat CameraModel::rectifyDepth(const cv::Mat & raw) const
int yH = (int)ceil(pt.y);
if(xL >= 0 && yL >= 0 && xH < raw.cols && yH < raw.rows)
{
const uint16_t & pLT = raw.at<uint16_t>(yL, xL);
const uint16_t & pRT = raw.at<uint16_t>(yL, xH);
const uint16_t & pLB = raw.at<uint16_t>(yH, xL);
const uint16_t & pRB = raw.at<uint16_t>(yH, xH);
const unsigned short & pLT = raw.at<unsigned short>(yL, xL);
const unsigned short & pRT = raw.at<unsigned short>(yL, xH);
const unsigned short & pLB = raw.at<unsigned short>(yH, xL);
const unsigned short & pRB = raw.at<unsigned short>(yH, xH);
if(pLT > 0 && pRT > 0 && pLB > 0 && pRB > 0)
{
uint16_t avg = (pLT + pRT + pLB + pRB) / 4;
uint16_t thres = 0.01 * avg;
unsigned short avg = (pLT + pRT + pLB + pRB) / 4;
unsigned short thres = 0.01 * avg;
if( abs(pLT - avg) < thres &&
abs(pRT - avg) < thres &&
abs(pLB - avg) < thres &&
@@ -223,8 +223,8 @@ cv::Mat CameraModel::rectifyDepth(const cv::Mat & raw) const
//http://stackoverflow.com/questions/13299409/how-to-get-the-image-pixel-at-real-locations-in-opencv
rectified.at<unsigned short>(y,x) =
(raw.at<uint16_t>(yL, xL) * (1.f - a) + raw.at<uint16_t>(yL, xH) * a) * (1.f - c) +
(raw.at<uint16_t>(yH, xL) * (1.f - a) + raw.at<uint16_t>(yH, xH) * a) * c;
(raw.at<unsigned short>(yL, xL) * (1.f - a) + raw.at<unsigned short>(yL, xH) * a) * (1.f - c) +
(raw.at<unsigned short>(yH, xL) * (1.f - a) + raw.at<unsigned short>(yH, xH) * a) * c;
}
}
}

4
corelib/src/OdometryMono.cpp
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@@ -658,8 +658,8 @@ Transform OdometryMono::computeTransform(const SensorData & data, OdometryInfo *
cv::Mat E = K.t()*F*K;
//normalize coordinates
cv::Mat x(3, refCorners.size(), CV_64FC1);
cv::Mat xp(3, refCorners.size(), CV_64FC1);
cv::Mat x(3, (int)refCorners.size(), CV_64FC1);
cv::Mat xp(3, (int)refCorners.size(), CV_64FC1);
for(unsigned int i=0; i<refCorners.size(); ++i)
{
x.at<double>(0, i) = refCorners[i].x;

4
corelib/src/util3d.cpp
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@@ -465,8 +465,8 @@ std::multimap<int, pcl::PointXYZ> generateWords3DMono(
refCorners = refCornersRefined;
newCorners = newCornersRefined;
cv::Mat x(3, refCorners.size(), CV_64FC1);
cv::Mat xp(3, refCorners.size(), CV_64FC1);
cv::Mat x(3, (int)refCorners.size(), CV_64FC1);
cv::Mat xp(3, (int)refCorners.size(), CV_64FC1);
for(unsigned int i=0; i<refCorners.size(); ++i)
{
x.at<double>(0, i) = refCorners[i].x;