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DBViewer: added stereo images extraction

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matlabbe
2015-06-24 20:20:27 -04:00
parent cdb59371d7
commit 817906d608
4 changed files with 64 additions and 10 deletions
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4
corelib/include/rtabmap/core/CameraModel.h
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@@ -87,7 +87,7 @@ public:
int imageWeight() const {return imageSize_.height;}
bool load(const std::string & filePath);
bool save(const std::string & filePath);
bool save(const std::string & filePath) const;
void scale(double scale);
@@ -146,7 +146,7 @@ public:
const std::string & name() const {return name_;}
bool load(const std::string & directory, const std::string & cameraName, bool ignoreStereoTransform = true);
bool save(const std::string & directory, const std::string & cameraName, bool ignoreStereoTransform = true);
bool save(const std::string & directory, const std::string & cameraName, bool ignoreStereoTransform = true) const;
double baseline() const {return -right_.Tx()/right_.fx();}

4
corelib/src/CameraModel.cpp
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@@ -170,7 +170,7 @@ bool CameraModel::load(const std::string & filePath)
return false;
}
bool CameraModel::save(const std::string & filePath)
bool CameraModel::save(const std::string & filePath) const
{
if(!filePath.empty() && !name_.empty() && !K_.empty() && !D_.empty() && !R_.empty() && !P_.empty())
{
@@ -368,7 +368,7 @@ bool StereoCameraModel::load(const std::string & directory, const std::string &
}
return false;
}
bool StereoCameraModel::save(const std::string & directory, const std::string & cameraName, bool ignoreStereoTransform)
bool StereoCameraModel::save(const std::string & directory, const std::string & cameraName, bool ignoreStereoTransform) const
{
if(left_.save(directory+"/"+cameraName+"_left.yaml") && right_.save(directory+"/"+cameraName+"_right.yaml"))
{