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CameraImages: support reading multicamera image and calibration files (#1721)

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* CameraImages: support reading multicamera image and calibration files

* Added multi camera support for CameraStereoImages. Refactored single calib per frame option.

* refactored

* refactor

* bump 0.23.8
This commit is contained in:
matlabbe
2026-06-23 19:13:18 -07:00
committed by GitHub
parent bc724a2125
commit c55c05a97e
13 changed files with 1125 additions and 545 deletions
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corelib/include/rtabmap/core/CameraModel.h
+4 -2
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@@ -126,8 +126,10 @@ public:
double verticalFOV() const; // in degrees
bool isFisheye() const {return D_.cols == 6;}
bool load(const std::string & filePath);
bool load(const std::string & directory, const std::string & cameraName);
// Set initRectificationMaps=false to skip building the (potentially large)
// rectification maps when rectification won't be used (saves time and memory).
bool load(const std::string & filePath, bool initRectificationMaps = true);
bool load(const std::string & directory, const std::string & cameraName, bool initRectificationMaps = true);
bool save(const std::string & directory) const;
std::vector<unsigned char> serialize() const;
unsigned int deserialize(const std::vector<unsigned char>& data);