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Added RGB/IR calibration

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matlabbe
2015-04-08 12:23:10 -04:00
parent e965275fe6
commit 8ab867b802
10 changed files with 341 additions and 64 deletions
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corelib/include/rtabmap/core/CameraModel.h
+14 -14
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@@ -92,28 +92,24 @@ public:
StereoCameraModel() {}
StereoCameraModel(const std::string & name, const cv::Size & imageSize,
const cv::Mat & K1, const cv::Mat & D1, const cv::Mat & R1, const cv::Mat & P1,
const cv::Mat & K2, const cv::Mat & D2, const cv::Mat & R2, const cv::Mat & P2) :
const cv::Mat & K2, const cv::Mat & D2, const cv::Mat & R2, const cv::Mat & P2,
const cv::Mat & R, const cv::Mat & T, const cv::Mat & E, const cv::Mat & F) :
left_(name+"_left", imageSize, K1, D1, R1, P1),
right_(name+"_right", imageSize, K2, D2, R2, P2),
name_(name)
name_(name),
R_(R),
T_(T),
E_(E),
F_(F)
{
}
virtual ~StereoCameraModel() {}
bool isValid() const {return left_.isValid() && right_.isValid();}
bool isValid() const {return left_.isValid() && right_.isValid() && !R_.empty() && !T_.empty() && !E_.empty() && !F_.empty();}
const std::string & name() const {return name_;}
bool load(const std::string & directory, const std::string & cameraName)
{
name_ = cameraName;
return left_.load(directory+"/"+cameraName+"_left.yaml") &&
right_.load(directory+"/"+cameraName+"_right.yaml");
}
bool save(const std::string & directory, const std::string & cameraName)
{
return left_.save(directory+"/"+cameraName+"_left.yaml") &&
right_.save(directory+"/"+cameraName+"_right.yaml");
}
bool load(const std::string & directory, const std::string & cameraName);
bool save(const std::string & directory, const std::string & cameraName);
double baseline() const {return -right_.Tx()/right_.fx();}
const CameraModel & left() const {return left_;}
@@ -123,6 +119,10 @@ private:
CameraModel left_;
CameraModel right_;
std::string name_;
cv::Mat R_;
cv::Mat T_;
cv::Mat E_;
cv::Mat F_;
};
} /* namespace rtabmap */