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StereoCameraModel: baseline computed with Tx of left camera too. Fixed QMultiComboBox not showing on windows. Avoid updating grid view if there are no local grids in signatrues. Clear cached data of StatsItem when detecting smaller timestamp than last ones.

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matlabbe
2016-12-01 21:46:09 -05:00
parent d0dddaf7cc
commit f2dbfa9b33
11 changed files with 326 additions and 208 deletions
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corelib/include/rtabmap/core/StereoCameraModel.h
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@@ -97,7 +97,7 @@ public:
bool save(const std::string & directory, bool ignoreStereoTransform = true) const;
bool saveStereoTransform(const std::string & directory) const;
double baseline() const {return right_.fx()!=0.0?-right_.Tx()/right_.fx():0.0;}
double baseline() const {return right_.fx()!=0.0 && left_.fx() != 0.0 ? left_.Tx() / left_.fx() - right_.Tx()/right_.fx():0.0;}
float computeDepth(float disparity) const;
float computeDisparity(float depth) const; // m