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Added image size to all camera calibration inputs. Memory::computeTransform() more fine tuning to know if data should be loaded from database.

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matlabbe
2016-03-10 09:07:44 -05:00
parent 609cc3dc59
commit cee9c65b06
10 changed files with 312 additions and 261 deletions
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10
corelib/src/CameraRGB.cpp
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@@ -672,6 +672,11 @@ SensorData CameraImages::captureImage()
UWARN("Directory is not set, camera must be initialized.");
}
if(_model.imageHeight() == 0 || _model.imageWidth() == 0)
{
_model.setImageSize(img.size());
}
SensorData data(scan, scan.empty()?0:_scanMaxPts, 0, _isDepth?cv::Mat():img, _isDepth?img:depthFromScan, _model, this->getNextSeqID(), stamp);
data.setGroundTruth(groundTruthPose);
return data;
@@ -792,6 +797,11 @@ SensorData CameraVideo::captureImage()
{
if(_capture.read(img))
{
if(_model.imageHeight() == 0 || _model.imageWidth() == 0)
{
_model.setImageSize(img.size());
}
if(_model.isValidForRectification() && (_src != kVideoFile || _rectifyImages))
{
img = _model.rectifyImage(img);