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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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This commit is contained in:
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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corelib/src/CameraRGBD.cpp
+15 -5
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@@ -223,7 +223,9 @@ SensorData CameraOpenni::captureImage()
1.0f/depthConstant_, //fy
float(rgb_.cols/2) - 0.5f, //cx
float(rgb_.rows/2) - 0.5f, //cy
this->getLocalTransform());
this->getLocalTransform(),
0,
rgb_.size());
data = SensorData(rgb_, depth_, model, this->getNextSeqID(), UTimer::now());
}
@@ -336,7 +338,9 @@ SensorData CameraOpenNICV::captureImage()
_depthFocal, //fy
float(rgb.cols/2) - 0.5f, //cx
float(rgb.rows/2) - 0.5f, //cy
this->getLocalTransform());
this->getLocalTransform(),
0,
rgb.size());
data = SensorData(rgb, depth, model, this->getNextSeqID(), UTimer::now());
}
}
@@ -710,7 +714,9 @@ SensorData CameraOpenNI2::captureImage()
_depthFy, //fy
float(rgb.cols/2) - 0.5f, //cx
float(rgb.rows/2) - 0.5f, //cy
this->getLocalTransform());
this->getLocalTransform(),
0,
rgb.size());
if(_openNI2StampsAndIDsUsed)
{
data = SensorData(rgb, depth, model, depthFrame.getFrameIndex(), double(depthFrame.getTimestamp()) / 1000000.0);
@@ -1047,7 +1053,9 @@ SensorData CameraFreenect::captureImage()
freenectDevice_->getDepthFocal(), //fy
float(rgb.cols/2) - 0.5f, //cx
float(rgb.rows/2) - 0.5f, //cy
this->getLocalTransform());
this->getLocalTransform(),
0,
rgb.size());
data = SensorData(rgb, depth, model, this->getNextSeqID(), UTimer::now());
}
}
@@ -1643,7 +1651,9 @@ SensorData CameraFreenect2::captureImage()
fy, //fy
cx, //cx
cy, // cy
this->getLocalTransform());
this->getLocalTransform(),
0,
rgb.size());
}
data = SensorData(rgb, depth, model, this->getNextSeqID(), stamp);