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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/src/CameraRGBD.cpp
+1 -1
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@@ -1395,7 +1395,7 @@ SensorData CameraFreenect2::captureImage()
else
{
//rgb + ir or rgb + depth
if(stereoModel_.isValid())
if(stereoModel_.isValidForRectification())
{
cv::Mat rgbMatC4((int)rgbFrame->height, (int)rgbFrame->width, CV_8UC4, rgbFrame->data);
cv::Mat rgbMat; // rtabmap uses 3 channels RGB