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-Updated CameraModel and StereoCameraModel so that a stereo camera model can be initialization from know intrinsics and extrinsics

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-CreateSimpleCalibrationDialog updated to create mono/stereo calibration files with advanced option (setting intrinsics of each camera + extrinsics between them). Rectification R and new camera P matrices are then automatically computed.
-Added GeodeticCoords class for convience conversion between GPS values (latitude/longitude/altitude) to local coordinate (ENU).
-Added support of Malaga Urban and St Lucia ground truths.
-CameraImages: added option to debayer images. Timestamps file: added support of "sec millisec" format.
-Added UException class: exceptions are sent instead of exiting the application on UASSERT or UFATAL.
This commit is contained in:
matlabbe
2016-01-19 17:43:33 -05:00
parent 72e66605e4
commit 7bfd76e747
29 changed files with 1739 additions and 702 deletions
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corelib/include/rtabmap/core/CameraModel.h
+15 -11
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@@ -74,21 +74,25 @@ public:
void initRectificationMap();
bool isValid() const {return !K_.empty() &&
!D_.empty() &&
!R_.empty() &&
!P_.empty() &&
fx()>0.0 &&
fy()>0.0;}
bool isValid() const {return (!K_.empty() || !P_.empty()) && fx()>0.0 && fy()>0.0;}
bool isValidForRectification() const
{
return imageSize_.width>0 &&
imageSize_.height>0 &&
!K_.empty() &&
!D_.empty() &&
!R_.empty() &&
!P_.empty();
}
void setName(const std::string & name) {name_=name;}
const std::string & name() const {return name_;}
double fx() const {return P_.at<double>(0,0);}
double fy() const {return P_.at<double>(1,1);}
double cx() const {return P_.at<double>(0,2);}
double cy() const {return P_.at<double>(1,2);}
double Tx() const {return P_.at<double>(0,3);}
double fx() const {return P_.empty()?K_.empty()?0.0:K_.at<double>(0,0):P_.at<double>(0,0);}
double fy() const {return P_.empty()?K_.empty()?0.0:K_.at<double>(1,1):P_.at<double>(1,1);}
double cx() const {return P_.empty()?K_.empty()?0.0:K_.at<double>(0,2):P_.at<double>(0,2);}
double cy() const {return P_.empty()?K_.empty()?0.0:K_.at<double>(1,2):P_.at<double>(1,2);}
double Tx() const {return P_.empty()?0.0:P_.at<double>(0,3);}
const cv::Mat & K() const {return K_;} //intrinsic camera matrix
const cv::Mat & D() const {return D_;} //intrinsic distorsion matrix