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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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10
guilib/src/OdometryViewer.cpp
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@@ -62,7 +62,7 @@ void OdometryViewer::processData()
}
dataMutex_.unlock();
if(!data.image().empty() && !data.depth().empty() && data.depthConstant()>0.0f && this->isVisible())
if(!data.image().empty() && !data.depth().empty() && data.depthFx()>0.0f && data.depthFy()>0.0f && this->isVisible())
{
UDEBUG("New pose = %s, quality=%d", data.pose().prettyPrint().c_str(), quality);
@@ -72,11 +72,9 @@ void OdometryViewer::processData()
cloud = util3d::cloudFromDepthRGB(
data.image(),
data.depth(),
float(data.depth().cols/2),
float(data.depth().rows/2),
1.0f/data.depthConstant(),
1.0f/data.depthConstant(),
decimation_);
data.depthCx(), data.depthCy(),
data.depthFx(), data.depthFy(),
decimation_);
if(voxelSize_ > 0.0f)
{