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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/src/CameraThread.cpp
+6 -3
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@@ -99,10 +99,13 @@ void CameraThread::mainLoop()
cv::Mat descriptors;
std::vector<cv::KeyPoint> keypoints;
cv::Mat rgb, depth;
float depthConstant = 0.0f;
float fx = 0.0f;
float fy = 0.0f;
float cx = 0.0f;
float cy = 0.0f;
if(_cameraRGBD)
{
_cameraRGBD->takeImage(rgb, depth, depthConstant);
_cameraRGBD->takeImage(rgb, depth, fx, fy, cx, cy);
}
else
{
@@ -113,7 +116,7 @@ void CameraThread::mainLoop()
{
if(_cameraRGBD)
{
this->post(new CameraEvent(rgb, depth, depthConstant, _cameraRGBD->getLocalTransform(), ++_seq));
this->post(new CameraEvent(rgb, depth, fx, fy, cx, cy, _cameraRGBD->getLocalTransform(), ++_seq));
}
else
{