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Integration of CLAMS depth calibration #114

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matlabbe
2016-09-19 14:01:06 -04:00
parent 861cc437f4
commit 3434b95d68
30 changed files with 2867 additions and 79 deletions
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corelib/include/rtabmap/core/CameraModel.h
+9 -1
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@@ -76,7 +76,8 @@ public:
void initRectificationMap();
bool isValidForProjection() const {return fx()>0.0 && fy()>0.0;}
bool isValidForProjection() const {return fx()>0.0 && fy()>0.0 && cx()>0.0 && cy()>0.0;}
bool isValidForReprojection() const {return fx()>0.0 && fy()>0.0 && cx()>0.0 && cy()>0.0 && imageWidth()>0 && imageHeight()>0;}
bool isValidForRectification() const
{
return imageSize_.width>0 &&
@@ -124,6 +125,13 @@ public:
cv::Mat rectifyImage(const cv::Mat & raw, int interpolation = cv::INTER_LINEAR) const;
cv::Mat rectifyDepth(const cv::Mat & raw) const;
// Project 2D pixel to 3D (in /camera_link frame)
void project(float u, float v, float depth, float & x, float & y, float & z) const;
// Reproject 3D point (in /camera_link frame) to pixel
void reproject(float x, float y, float z, float & u, float & v) const;
void reproject(float x, float y, float z, int & u, int & v) const;
bool inFrame(int u, int v) const;
private:
std::string name_;
cv::Size imageSize_;