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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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14
tools/ConsoleApp/main.cpp
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@@ -63,8 +63,6 @@ void showUsage()
" -debug Set Log level to Debug (Default Error)\n"
" -info Set Log level to Info (Default Error)\n"
" -warn Set Log level to Warning (Default Error)\n"
" -exit_warn Set exit level to Warning (Default Fatal)\n"
" -exit_error Set exit level to Error (Default Fatal)\n"
" -log_console Log to console\n"
" -v Get version of RTAB-Map\n"
" -input \"path\" Load previous database if it exists.\n");
@@ -118,7 +116,6 @@ int main(int argc, char * argv[])
int startAt = 1;
ParametersMap pm;
ULogger::Level logLevel = ULogger::kError;
ULogger::Level exitLevel = ULogger::kFatal;
bool logConsole = false;
for(int i=1; i<argc; ++i)
@@ -240,16 +237,6 @@ int main(int argc, char * argv[])
logLevel = ULogger::kWarning;
continue;
}
if(strcmp(argv[i], "-exit_warn") == 0)
{
exitLevel = ULogger::kWarning;
continue;
}
if(strcmp(argv[i], "-exit_error") == 0)
{
exitLevel = ULogger::kError;
continue;
}
if(strcmp(argv[i], "-log_console") == 0)
{
logConsole = true;
@@ -351,7 +338,6 @@ int main(int argc, char * argv[])
//ULogger::setType(ULogger::kTypeFile, rtabmap.getWorkingDir()+"/LogConsole.txt", false);
//ULogger::setBuffered(true);
ULogger::setLevel(logLevel);
ULogger::setExitLevel(exitLevel);
UTimer timer;
timer.start();