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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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8
tools/CameraRGBD/main.cpp
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@@ -107,8 +107,8 @@ int main(int argc, char * argv[])
}
cv::Mat rgb, depth;
float constant;
camera->takeImage(rgb, depth, constant);
float fx, fy, cx, cy;
camera->takeImage(rgb, depth, fx, fy, cx, cy);
cv::namedWindow("Video", CV_WINDOW_AUTOSIZE); // create window
cv::namedWindow("Depth", CV_WINDOW_AUTOSIZE); // create window
pcl::visualization::CloudViewer viewer("cloud");
@@ -120,7 +120,7 @@ int main(int argc, char * argv[])
cv::imshow("Video", rgb); // show frame
cv::imshow("Depth",tmp);
viewer.showCloud(rtabmap::util3d::cloudFromDepthRGB(rgb, depth, constant), "cloud");
viewer.showCloud(rtabmap::util3d::cloudFromDepthRGB(rgb, depth, cx, cy, fx, fy), "cloud");
int c = cv::waitKey(10); // wait 10 ms or for key stroke
if(c == 27)
@@ -128,7 +128,7 @@ int main(int argc, char * argv[])
rgb = cv::Mat();
depth = cv::Mat();
camera->takeImage(rgb, depth, constant);
camera->takeImage(rgb, depth, fx, fy, cx, cy);
}
cv::destroyWindow("Video");
cv::destroyWindow("Depth");