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Added Source/Mirroring parameter for convenience

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matlabbe
2015-02-28 18:09:22 -05:00
parent 395dac5777
commit cf69f17925
9 changed files with 100 additions and 43 deletions
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3
corelib/include/rtabmap/core/Camera.h
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@@ -56,10 +56,12 @@ public:
//getters
void getImageSize(unsigned int & width, unsigned int & height);
float getImageRate() const {return _imageRate;}
bool isMirroringEnabled() const {return _mirroring;}
//setters
void setImageRate(float imageRate) {_imageRate = imageRate;}
void setImageSize(unsigned int width, unsigned int height);
void setMirroringEnabled(bool enabled) {_mirroring = enabled;}
void setCalibration(const std::string & fileName);
void setCalibration(const cv::Mat & cameraMatrix, const cv::Mat & distorsionCoefficients);
@@ -81,6 +83,7 @@ private:
float _imageRate;
unsigned int _imageWidth;
unsigned int _imageHeight;
bool _mirroring;
UTimer * _frameRateTimer;
cv::Mat _k; // camera_matrix
cv::Mat _d; // distorsion_coefficients

3
corelib/include/rtabmap/core/CameraRGBD.h
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@@ -77,6 +77,7 @@ public:
//getters
float getImageRate() const {return _imageRate;}
const Transform & getLocalTransform() const {return _localTransform;}
bool isMirroringEnabled() const {return _mirroring;}
float getFx() const {return _fx;}
float getFy() const {return _fy;}
float getCx() const {return _cx;}
@@ -85,6 +86,7 @@ public:
//setters
void setImageRate(float imageRate) {_imageRate = imageRate;}
void setLocalTransform(const Transform & localTransform) {_localTransform= localTransform;}
void setMirroringEnabled(bool mirroring) {_mirroring = mirroring;}
void setFx(float fx) {_fx = fx;}
void setFy(float fy) {_fy = fy;}
void setCx(float cx) {_cx = cx;}
@@ -108,6 +110,7 @@ protected:
private:
float _imageRate;
Transform _localTransform;
bool _mirroring;
UTimer * _frameRateTimer;
float _fx;
float _fy;