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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/Odometry.cpp
+6 -3
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@@ -173,7 +173,7 @@ Transform OdometryBOW::computeTransform(Image & image, int * quality)
std::vector<cv::KeyPoint> keypoints;
cv::Mat descriptors;
_memory->extractKeypointsAndDescriptors(imageMono, image.depth(), image.depthConstant(), keypoints, descriptors);
_memory->extractKeypointsAndDescriptors(imageMono, image.depth(), image.depthFx(), image.depthFy(), image.depthCx(), image.depthCy(), keypoints, descriptors);
image.setDescriptors(descriptors, _memory->getFeatureType());
image.setKeypoints(keypoints);
@@ -389,7 +389,10 @@ Transform OdometryICP::computeTransform(Image & image, int * quality)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr newCloudXYZ = util3d::getICPReadyCloud(
image.depth(),
image.depthConstant(),
image.depthFx(),
image.depthFy(),
image.depthCx(),
image.depthCy(),
_decimation,
this->getMaxDepth(),
_voxelSize,
@@ -520,7 +523,7 @@ void OdometryThread::mainLoop()
void OdometryThread::addImage(const Image & image)
{
if(image.empty() || image.depth().empty() || image.depthConstant() == 0.0f)
if(image.empty() || image.depth().empty() || image.depthFx() == 0.0f || image.depthFy() == 0.0f)
{
ULOGGER_ERROR("image empty !?");
return;