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ZED: Added self calibration option (default false)

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matlabbe
2016-10-25 16:06:55 -04:00
parent 063e019653
commit d102c43f9a
4 changed files with 142 additions and 43 deletions
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7
corelib/include/rtabmap/core/CameraStereo.h
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@@ -120,7 +120,8 @@ public:
int confidenceThr = 100,
bool computeOdometry = false,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
const Transform & localTransform = Transform::getIdentity(),
bool selfCalibration = false);
CameraStereoZed(
const std::string & svoFilePath,
int quality = 1, // 0=NONE, 1=PERFORMANCE, 2=QUALITY
@@ -128,7 +129,8 @@ public:
int confidenceThr = 100,
bool computeOdometry = false,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
const Transform & localTransform = Transform::getIdentity(),
bool selfCalibration = false);
virtual ~CameraStereoZed();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
@@ -147,6 +149,7 @@ private:
std::string svoFilePath_;
int resolution_;
int quality_;
bool selfCalibration_;
int sensingMode_;
int confidenceThr_;
bool computeOdometry_;