i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

With Mem/RotateImagesUpsideUp=true, do not clear features if none of the cameras are rotated. DBViewer: show local transform of all cameras in tooltip

Browse Source
This commit is contained in:
matlabbe
2024-08-12 14:27:08 -07:00
parent cc5da376ec
commit 4911dbe9bb
4 changed files with 11 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
guilib/src/DatabaseViewer.cpp
View File

@@ -4952,6 +4952,7 @@ void DatabaseViewer::update(int value,
if( data.cameraModels()[i].D_raw().total()) calibrationDetails << "D=" << data.cameraModels()[i].D_raw() << std::endl;
if( data.cameraModels()[i].R().total()) calibrationDetails << "R=" << data.cameraModels()[i].R() << std::endl;
if( data.cameraModels()[i].P().total()) calibrationDetails << "P=" << data.cameraModels()[i].P() << std::endl;
calibrationDetails << "BaseToCam(without opt rot)=" << (data.cameraModels()[i].localTransform()*CameraModel::opticalRotation().inverse()).prettyPrint() << std::endl;
}
}
@@ -4988,6 +4989,7 @@ void DatabaseViewer::update(int value,
if( data.stereoCameraModels()[i].T().total()) calibrationDetails << " T=" << data.stereoCameraModels()[i].T() << std::endl;
if( data.stereoCameraModels()[i].F().total()) calibrationDetails << " F=" << data.stereoCameraModels()[i].F() << std::endl;
if( data.stereoCameraModels()[i].E().total()) calibrationDetails << " E=" << data.stereoCameraModels()[i].E() << std::endl;
calibrationDetails << "BaseToLeftCam(without opt rot)=" << (data.stereoCameraModels()[i].left().localTransform()*CameraModel::opticalRotation().inverse()).prettyPrint() << std::endl;
}
}
labelCalib->setToolTip(calibrationDetails.str().c_str());