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Refactoring: set default local transform for camera drivers to opticalRotation. Added CameraModel::opticalRtotation() static function for convenience. Added CameraModel::load() from file directly for convenience. Added Camera::initFromFile() for convenience. Transform: Added opengl_T_rtabmap() and opengl_T_rtabmap() functions for convenience (convert back and forth between rtabmap world and opengl world coordinate frames)

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This commit is contained in:
matlabbe
2020-06-08 11:40:47 -04:00
parent ff5695878c
commit 4769fc235f
27 changed files with 88 additions and 67 deletions
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examples/NoEventsExample/main.cpp
+1 -3
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@@ -93,13 +93,11 @@ int main(int argc, char * argv[])
std::string pathLeftImages = argv[argIndex++];
std::string pathRightImages = argv[argIndex++];
Transform opticalRotation(0,0,1,0, -1,0,0,0, 0,-1,0,0);
CameraStereoImages camera(
pathLeftImages,
pathRightImages,
false, // assume that images are already rectified
(float)cameraRate,
opticalRotation);
(float)cameraRate);
if(camera.init(calibrationDir, calibrationName))
{