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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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15
corelib/src/DBReader.cpp
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@@ -112,9 +112,9 @@ void DBReader::mainLoopBegin()
void DBReader::mainLoop()
{
cv::Mat image, depth, depth2d;
float depthConstant;
float fx,fy,cx,cy;
Transform localTransform, pose;
this->getNextImage(image, depth, depth2d, depthConstant, localTransform, pose);
this->getNextImage(image, depth, depth2d, fx, fy, cx, cy, localTransform, pose);
if(!image.empty())
{
if(depth.empty())
@@ -125,7 +125,7 @@ void DBReader::mainLoop()
{
if(!_odometryIgnored)
{
Image data(image, depth, depth2d, depthConstant, pose, localTransform);
Image data(image, depth, depth2d, fx, fy, cx, cy, pose, localTransform);
this->post(new OdometryEvent(data));
if(pose.isNull())
{
@@ -137,7 +137,7 @@ void DBReader::mainLoop()
else
{
// without odometry
this->post(new CameraEvent(image, depth, depth2d, depthConstant, localTransform));
this->post(new CameraEvent(image, depth, depth2d, fx, fy, cx, cy, localTransform));
}
}
}
@@ -154,7 +154,10 @@ void DBReader::getNextImage(
cv::Mat & image,
cv::Mat & depth,
cv::Mat & depth2d,
float & depthConstant,
float & fx,
float & fy,
float & cx,
float & cy,
Transform & localTransform,
Transform & pose)
{
@@ -186,7 +189,7 @@ void DBReader::getNextImage(
std::vector<unsigned char> depthBytes;
std::vector<unsigned char> depth2dBytes;
int mapId;
_dbDriver->getNodeData(*_currentId, imageBytes, depthBytes, depth2dBytes, depthConstant, localTransform);
_dbDriver->getNodeData(*_currentId, imageBytes, depthBytes, depth2dBytes, fx, fy, cx, cy, localTransform);
_dbDriver->getPose(*_currentId, pose, mapId);
++_currentId;
if(imageBytes.empty())