Camera class: localTransform parameter should not have optical rotation anymore (it is added afterwards in the constructor). OdomSensor: the extrinsics should not contain optical rotation anymore. These 2 changes make it more convenient to set transfomation parameters in the UI. MainWindow::createCamera() now has odomSensor argument for convenience (for inherited classes to set both camera and odom sensor in the same function).

corelib/src/Camera.cpp

@@ -45,7 +45,7 @@ namespace rtabmap
 
 Camera::Camera(float imageRate, const Transform & localTransform) :
 	_imageRate(imageRate),
-	_localTransform(localTransform),
+	_localTransform(localTransform*CameraModel::opticalRotation()),
 	_targetImageSize(0,0),
 	_frameRateTimer(new UTimer()),
 	_seq(0)

corelib/src/CameraThread.cpp

@@ -88,7 +88,7 @@ CameraThread::CameraThread(
 		const ParametersMap & parameters) :
 			_camera(camera),
 			_odomSensor(odomSensor),
-			_extrinsicsOdomToCamera(extrinsics),
+			_extrinsicsOdomToCamera(extrinsics * CameraModel::opticalRotation()),
 			_odomAsGt(odomAsGt),
 			_poseTimeOffset(poseTimeOffset),
 			_poseScaleFactor(poseScaleFactor),
@@ -123,14 +123,13 @@ CameraThread::CameraThread(
 // ownership transferred
 CameraThread::CameraThread(
 		Camera * camera,
-		float poseScaleFactor,
 		bool odomAsGt,
 		const ParametersMap & parameters) :
 			_camera(camera),
 			_odomSensor(0),
 			_odomAsGt(odomAsGt),
 			_poseTimeOffset(0.0),
-			_poseScaleFactor(poseScaleFactor),
+			_poseScaleFactor(1.0f),
 			_mirroring(false),
 			_stereoExposureCompensation(false),
 			_colorOnly(false),
@@ -153,7 +152,6 @@ CameraThread::CameraThread(
 			_imuBaseFrameConversion(false)
 {
 	UASSERT(_camera != 0);
-	UDEBUG("_poseScaleFactor       =%f", _poseScaleFactor);
 	UDEBUG("_odomAsGt              =%s", _odomAsGt?"true":"false");
 }
 

corelib/src/camera/CameraRealSense2.cpp

@@ -1186,7 +1186,7 @@ void CameraRealSense2::setDualMode(bool enabled, const Transform & extrinsics)
 #ifdef RTABMAP_REALSENSE2
 	UASSERT(!enabled || !extrinsics.isNull());
 	dualMode_ = enabled;
-	dualExtrinsics_ =  extrinsics;
+	dualExtrinsics_ =  extrinsics*CameraModel::opticalRotation();
 	if(dualMode_)
 	{
 		odometryProvided_ = true;