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DepthCalibrationDialog: added distortion model parameters

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matlabbe
2017-05-11 14:44:15 -04:00
parent c63b45dbf3
commit 414e3555a5
5 changed files with 496 additions and 157 deletions
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4
corelib/include/rtabmap/core/clams/discrete_depth_distortion_model.h
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@@ -42,7 +42,7 @@ namespace clams
class RTABMAP_EXP DiscreteFrustum
{
public:
DiscreteFrustum(int smoothing = 1, double bin_depth = 1.0);
DiscreteFrustum(int smoothing = 1, double bin_depth = 1.0, double max_dist = 10.0);
//! z value, not distance to origin.
//! thread-safe.
void addExample(double ground_truth, double measurement);
@@ -88,7 +88,7 @@ namespace clams
training_samples_(0)
{}
virtual ~DiscreteDepthDistortionModel();
DiscreteDepthDistortionModel(int width, int height, int bin_width = 8, int bin_height = 6, double bin_depth = 2.0, int smoothing = 1);
DiscreteDepthDistortionModel(int width, int height, int bin_width = 8, int bin_height = 6, double bin_depth = 2.0, int smoothing = 1, double max_depth = 10.0);
DiscreteDepthDistortionModel(const DiscreteDepthDistortionModel& other);
DiscreteDepthDistortionModel& operator=(const DiscreteDepthDistortionModel& other);
void undistort(cv::Mat & depth) const;