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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.

Browse Source 
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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70
corelib/src/util3d.cpp
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@@ -301,7 +301,10 @@ cv::Mat cvtDepthToFloat(const cv::Mat & depth16U)
std::multimap<int, pcl::PointXYZ> generateWords3(
const std::multimap<int, cv::KeyPoint> & words,
const cv::Mat & depth,
float depthConstant,
float fx,
float fy,
float cx,
float cy,
const Transform & transform)
{
std::multimap<int, pcl::PointXYZ> words3;
@@ -311,10 +314,10 @@ std::multimap<int, pcl::PointXYZ> generateWords3(
depth,
iter->second.pt.x+0.5f,
iter->second.pt.y+0.5f,
depth.cols/2,
depth.rows/2,
1.0f/depthConstant,
1.0f/depthConstant);
cx,
cy,
fx,
fy);
if(!transform.isNull() && !transform.isIdentity())
{
@@ -411,18 +414,6 @@ void findCorrespondences(
inliers2.resize(oi);
}
pcl::PointXYZ getDepth(
const cv::Mat & depthImage,
int x, int y,
float depthConstant)
{
return getDepth(depthImage, x, y,
(float)depthImage.cols/2,
(float)depthImage.rows/2,
1.0f/depthConstant,
1.0f/depthConstant);
}
pcl::PointXYZ getDepth(const cv::Mat & depthImage,
int x, int y,
float cx, float cy,
@@ -433,8 +424,8 @@ pcl::PointXYZ getDepth(const cv::Mat & depthImage,
pcl::PointXYZ pt;
// Use correct principal point from calibration
float center_x = cx; //cameraInfo.K.at(2)
float center_y = cy; //cameraInfo.K.at(5)
float center_x = cx > 0.0f ? cx : float(depthImage.cols/2) - 0.5f; //cameraInfo.K.at(2)
float center_y = cy > 0.0f ? cy : float(depthImage.rows/2) - 0.5f; //cameraInfo.K.at(5)
bool isInMM = depthImage.type() == CV_16UC1; // is in mm?
@@ -624,19 +615,6 @@ pcl::PointXYZRGB RTABMAP_EXP transformPoint(
return pcl::transformPoint(pt, transformToEigen3f(transform));
}
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFromDepth(
const cv::Mat & imageDepth,
float depthConstant,
int decimation)
{
return cloudFromDepth(
imageDepth,
float(imageDepth.cols/2),
float(imageDepth.rows/2),
1.0f/depthConstant,
1.0f/depthConstant,
decimation);
}
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFromDepth(
const cv::Mat & imageDepth,
float cx, float cy,
@@ -675,21 +653,6 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFromDepth(
return cloud;
}
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromDepthRGB(
const cv::Mat & imageRgb,
const cv::Mat & imageDepth,
float depthConstant,
int decimation)
{
return cloudFromDepthRGB(
imageRgb,
imageDepth,
float(imageDepth.cols/2),
float(imageDepth.rows/2),
1.0f/depthConstant,
1.0f/depthConstant,
decimation);
}
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromDepthRGB(
const cv::Mat & imageRgb,
const cv::Mat & imageDepth,
@@ -1421,7 +1384,10 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr cvMat2Cloud(
// If "voxel" > 0, "samples" is ignored
pcl::PointCloud<pcl::PointXYZ>::Ptr getICPReadyCloud(
const cv::Mat & depth,
float depthConstant,
float fx,
float fy,
float cx,
float cy,
int decimation,
double maxDepth,
float voxel,
@@ -1431,10 +1397,10 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr getICPReadyCloud(
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
cloud = cloudFromDepth(
depth,
depth.cols/2,
depth.rows/2,
1.0f/depthConstant,
1.0f/depthConstant,
cx,
cy,
fx,
fy,
decimation);
if(cloud->size())