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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/Statistics.h
+12 -3
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@@ -114,7 +114,10 @@ public:
void setImages(const std::map<int, std::vector<unsigned char> > & images) {_images = images;}
void setDepths(const std::map<int, std::vector<unsigned char> > & depths) {_depths = depths;}
void setDepth2ds(const std::map<int, std::vector<unsigned char> > & depth2ds) {_depth2ds = depth2ds;}
void setDepthConstants(const std::map<int, float> & depthConstants) {_depthConstants = depthConstants;}
void setDepthFxs(const std::map<int, float> & fxs) {_depthFxs = fxs;}
void setDepthFys(const std::map<int, float> & fys) {_depthFys = fys;}
void setDepthCxs(const std::map<int, float> & cxs) {_depthCxs = cxs;}
void setDepthCys(const std::map<int, float> & cys) {_depthCys = cys;}
void setLocalTransforms(const std::map<int, Transform> & localTransforms) {_localTransforms = localTransforms;}
void setPoses(const std::map<int, Transform> & poses) {_poses = poses;}
@@ -139,7 +142,10 @@ public:
const std::map<int, std::vector<unsigned char> > & getImages() const {return _images;}
const std::map<int, std::vector<unsigned char> > & getDepths() const {return _depths;}
const std::map<int, std::vector<unsigned char> > & getDepth2ds() const {return _depth2ds;}
const std::map<int, float> & getDepthConstants() const {return _depthConstants;}
const std::map<int, float> & getDepthFxs() const {return _depthFxs;}
const std::map<int, float> & getDepthFys() const {return _depthFys;}
const std::map<int, float> & getDepthCxs() const {return _depthCxs;}
const std::map<int, float> & getDepthCys() const {return _depthCys;}
const std::map<int, Transform> & getLocalTransforms() const {return _localTransforms;}
const std::map<int, Transform> & poses() const {return _poses;}
@@ -170,7 +176,10 @@ private:
// Metric data
std::map<int, std::vector<unsigned char> > _depths;
std::map<int, std::vector<unsigned char> > _depth2ds;
std::map<int, float> _depthConstants;
std::map<int, float> _depthFxs;
std::map<int, float> _depthFys;
std::map<int, float> _depthCxs;
std::map<int, float> _depthCys;
std::map<int, Transform> _localTransforms;
std::map<int, Transform> _poses;