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Added OpenNI2 and Freenect calibration #115

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matlabbe
2016-09-13 18:26:18 -04:00
parent e5977d6157
commit acb700bd27
14 changed files with 1248 additions and 753 deletions
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corelib/include/rtabmap/core/StereoCameraModel.h
+7 -1
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@@ -87,7 +87,7 @@ public:
void initRectificationMap() {left_.initRectificationMap(); right_.initRectificationMap();}
void setName(const std::string & name);
void setName(const std::string & name, const std::string & leftSuffix = "left", const std::string & rightSuffix = "right");
const std::string & name() const {return name_;}
// backward compatibility
@@ -95,6 +95,7 @@ public:
bool load(const std::string & directory, const std::string & cameraName, bool ignoreStereoTransform = true);
bool save(const std::string & directory, bool ignoreStereoTransform = true) const;
bool saveStereoTransform(const std::string & directory) const;
double baseline() const {return right_.fx()!=0.0?-right_.Tx()/right_.fx():0.0;}
@@ -117,7 +118,12 @@ public:
const CameraModel & left() const {return left_;}
const CameraModel & right() const {return right_;}
const std::string & getLeftSuffix() const {return leftSuffix_;}
const std::string & getRightSuffix() const {return rightSuffix_;}
private:
std::string leftSuffix_;
std::string rightSuffix_;
CameraModel left_;
CameraModel right_;
std::string name_;