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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/RegistrationVis.cpp
+5 -2
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@@ -698,8 +698,11 @@ Transform RegistrationVis::computeTransformationImpl(
transforms[1] = transforms[1].inverse();
}
UDEBUG("t1=%s", transforms[0].prettyPrint().c_str());
UDEBUG("t2=%s", transforms[1].prettyPrint().c_str());
if(!_forwardEstimateOnly)
{
UDEBUG("from->to=%s", transforms[0].prettyPrint().c_str());
UDEBUG("from->from=%s", transforms[1].prettyPrint().c_str());
}
if(!transforms[1].isNull())
{
if(transforms[0].isNull())