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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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guilib/src/LoopClosureViewer.cpp
+4 -8
View File
@@ -129,10 +129,8 @@ void LoopClosureViewer::updateView(const Transform & transform)
cloudA = util3d::cloudFromDepthRGB(
imageA,
depthA,
depthA.cols/2,
depthA.rows/2,
1.0f/sA_->getDepthConstant(),
1.0f/sA_->getDepthConstant(),
sA_->getDepthCx(), sA_->getDepthCy(),
sA_->getDepthFx(), sA_->getDepthFy(),
decimation);
cloudA = util3d::removeNaNFromPointCloud(cloudA);
@@ -151,10 +149,8 @@ void LoopClosureViewer::updateView(const Transform & transform)
cloudB = util3d::cloudFromDepthRGB(
imageB,
depthB,
depthB.cols/2,
depthB.rows/2,
1.0f/sB_->getDepthConstant(),
1.0f/sB_->getDepthConstant(),
sB_->getDepthCx(), sB_->getDepthCy(),
sB_->getDepthFx(), sB_->getDepthFy(),
decimation);
cloudB = util3d::removeNaNFromPointCloud(cloudB);