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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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38
utilite/src/ULogger.cpp
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@@ -53,9 +53,7 @@ bool ULogger::printWhereFullPath_ = false;
bool ULogger::printThreadID_ = false;
bool ULogger::limitWhereLength_ = false;
bool ULogger::buffered_ = false;
bool ULogger::exitingState_ = false;
ULogger::Level ULogger::level_ = kInfo; // By default, we show all info msgs + upper level (Warning, Error)
ULogger::Level ULogger::exitLevel_ = kFatal;
ULogger::Level ULogger::eventLevel_ = kFatal;
const char * ULogger::levelName_[5] = {"DEBUG", " INFO", " WARN", "ERROR", "FATAL"};
ULogger* ULogger::instance_ = 0;
@@ -313,18 +311,13 @@ void ULogger::write(ULogger::Level level,
const char* msg,
...)
{
if(exitingState_)
{
// Ignore messages after a fatal exit...
return;
}
loggerMutex_.lock();
if(type_ == kTypeNoLog && level < kFatal)
{
loggerMutex_.unlock();
return;
}
if(strlen(msg) == 0 && !printWhere_ && level < exitLevel_)
if(strlen(msg) == 0 && !printWhere_ && level < kFatal)
{
loggerMutex_.unlock();
// No need to show an empty message if we don't print where.
@@ -502,11 +495,10 @@ void ULogger::write(ULogger::Level level,
va_start(args, msg);
fullMsg.append(uFormatv(msg, args));
va_end(args);
if(level >= exitLevel_)
if(level >= kFatal)
{
// Send it synchronously, then receivers
// can do something before the code (exiting) below is executed.
exitingState_ = true;
UEventsManager::post(new ULogEvent(fullMsg, kFatal), false);
}
else
@@ -515,23 +507,23 @@ void ULogger::write(ULogger::Level level,
}
}
if(level >= exitLevel_)
if(level >= kFatal)
{
printf("\n*******\n%s message occurred! Application will now exit.\n", levelName_[level]);
if(type_ != kTypeConsole)
std::string fullMsg = uFormat("%s%s%s%s", levelStr.c_str(), pidStr.c_str(), time.c_str(), whereStr.c_str());
va_start(args, msg);
fullMsg.append(uFormatv(msg, args));
va_end(args);
if(instance_)
{
printf(" %s%s%s%s", levelStr.c_str(), pidStr.c_str(), time.c_str(), whereStr.c_str());
va_start(args, msg);
vprintf(msg, args);
va_end(args);
destroyer_.setDoomed(0);
delete instance_; // If a FileLogger is used, this will close the file.
instance_ = 0;
}
printf("\n*******\n");
destroyer_.setDoomed(0);
delete instance_; // If a FileLogger is used, this will close the file.
instance_ = 0;
//========================================================================
// EXIT APPLICATION
exit(1);
// Throw exception
loggerMutex_.unlock();
throw UException(fullMsg);
//========================================================================
}
}