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Added CalibrationDialog in Preferences->source for convenience. The database is also changed to handle new FX, FY, CX and CY intrinsic parameters instead of only depthConstant parameter. Added version of the database in a new table Admin. Updated to version 0.7.0.

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1613 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-26 04:36:00 +00:00
parent 1557b3d44d
commit f090c81aaf
44 changed files with 1389 additions and 715 deletions
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corelib/include/rtabmap/core/CameraRGBD.h
+40 -15
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@@ -63,18 +63,24 @@ class RTABMAP_EXP CameraRGBD
{
public:
virtual ~CameraRGBD();
void takeImage(cv::Mat & rgb, cv::Mat & depth, float & depthConstant);
void takeImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy);
virtual bool init() = 0;
//getters
float getImageRate() const {return _imageRate;}
const Transform & getLocalTransform() const {return _localTransform;}
float getFocalLength() const {return _focalLength;}
float getFx() const {return _fx;}
float getFy() const {return _fy;}
float getCx() const {return _cx;}
float getCy() const {return _cy;}
//setters
void setImageRate(float imageRate) {_imageRate = imageRate;}
void setLocalTransform(const Transform & localTransform) {_localTransform= localTransform;}
void setFocalLength(float focalLength) {_focalLength = focalLength;}
void setFx(float fx) {_fx = fx;}
void setFy(float fy) {_fy = fy;}
void setCx(float cx) {_cx = cx;}
void setCy(float cy) {_cy = cy;}
protected:
/**
@@ -84,15 +90,21 @@ protected:
*/
CameraRGBD(float imageRate = 0,
const Transform & localTransform = Transform::getIdentity(),
float focalLength = 0.0f);
float fx = 0.0f,
float fy = 0.0f,
float cx = 0.0f,
float cy = 0.0f);
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & depthConstant) = 0;
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy) = 0;
private:
float _imageRate;
Transform _localTransform;
UTimer * _frameRateTimer;
float _focalLength;
float _fx;
float _fy;
float _cx;
float _cy;
};
/////////////////////////
@@ -109,7 +121,10 @@ public:
CameraOpenni(const std::string & deviceId="",
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity(),
float focalLength = 0.0f);
float fx = 0.0f,
float fy = 0.0f,
float cx = 0.0f,
float cy = 0.0f);
virtual ~CameraOpenni();
void image_cb (
@@ -120,7 +135,7 @@ public:
bool init();
protected:
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & depthConstant);
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy);
private:
pcl::Grabber* interface_;
@@ -147,13 +162,16 @@ public:
CameraOpenNICV(bool asus = false,
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity(),
float focalLength = 0.0f);
float fx = 0.0f,
float fy = 0.0f,
float cx = 0.0f,
float cy = 0.0f);
virtual ~CameraOpenNICV();
virtual bool init();
protected:
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & depthConstant);
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy);
private:
bool _asus;
@@ -174,19 +192,23 @@ public:
public:
CameraOpenNI2(float imageRate = 0,
const Transform & localTransform = Transform::getIdentity(),
float focalLength = 0.0f);
float fx = 0.0f,
float fy = 0.0f,
float cx = 0.0f,
float cy = 0.0f);
virtual ~CameraOpenNI2();
virtual bool init();
protected:
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & depthConstant);
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy);
private:
openni::Device * _device;
openni::VideoStream * _color;
openni::VideoStream * _depth;
float _depthFocal;
float _depthFx;
float _depthFy;
};
@@ -206,13 +228,16 @@ public:
CameraFreenect(int deviceId= 0,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity(),
float focalLength = 0.0f);
float fx = 0.0f,
float fy = 0.0f,
float cx = 0.0f,
float cy = 0.0f);
virtual ~CameraFreenect();
bool init();
protected:
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & depthConstant);
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy);
private:
int deviceId_;