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fixed opencv2 build

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This commit is contained in:
matlabbe
2020-11-14 14:41:37 -05:00
parent 01eb57f293
commit f9abcf9e35
1 changed files with 20 additions and 11 deletions
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31
corelib/src/camera/CameraImages.cpp
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@@ -221,7 +221,11 @@ bool CameraImages::init(const std::string & calibrationFolder, const std::string
{
if(_hasConfigForEachFrame)
{
UDirectory dirJson(_path, "json");
#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 3 && CV_MAJOR_VERSION < 2)
UDirectory dirJson(_path, "yaml xml");
#else
UDirectory dirJson(_path, "yaml xml json");
#endif
if(dirJson.getFileNames().size() == _dir->getFileNames().size())
{
bool modelsWarned = false;
@@ -254,7 +258,7 @@ bool CameraImages::init(const std::string & calibrationFolder, const std::string
}
else
{
_stamps.push_back(timeNode.real());
_stamps.push_back((double)timeNode);
if(_model.isValidForProjection() && !modelsWarned)
{
UWARN("Camera model loaded for each frame is overridden by "
@@ -266,17 +270,17 @@ bool CameraImages::init(const std::string & calibrationFolder, const std::string
else
{
_models.push_back(CameraModel(
intrinsicsNode[0].real(), //fx
intrinsicsNode[4].real(), //fy
intrinsicsNode[2].real(), //cx
intrinsicsNode[5].real(), //cy
(double)intrinsicsNode[0], //fx
(double)intrinsicsNode[4], //fy
(double)intrinsicsNode[2], //cx
(double)intrinsicsNode[5], //cy
CameraModel::opticalRotation()));
}
// we need to rotate from opengl world to rtabmap world
Transform pose(
poseNode[0].real(), poseNode[1].real(), poseNode[2].real(), poseNode[3].real(),
poseNode[4].real(), poseNode[5].real(), poseNode[6].real(), poseNode[7].real(),
poseNode[8].real(), poseNode[9].real(), poseNode[10].real(), poseNode[11].real());
(float)poseNode[0], (float)poseNode[1], (float)poseNode[2], (float)poseNode[3],
(float)poseNode[4], (float)poseNode[5], (float)poseNode[6], (float)poseNode[7],
(float)poseNode[8], (float)poseNode[9], (float)poseNode[10], (float)poseNode[11]);
pose = Transform::rtabmap_T_opengl() * pose * Transform::opengl_T_rtabmap();
odometry_.push_back(pose);
// linear cov = 0.0001
@@ -302,12 +306,17 @@ bool CameraImages::init(const std::string & calibrationFolder, const std::string
}
else
{
std::string opencv32warn;
#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 3 && CV_MAJOR_VERSION < 2)
opencv32warn = " RTAB-Map is currently built with OpenCV < 3.2, only xml and yaml files are supported (not json).";
#endif
UERROR("Parameter \"Config for each frame\" is true, but the "
"number of config files (%d) is not equal to number "
"of images (%d) in this directory \"%s\"",
"of images (%d) in this directory \"%s\".%s",
(int)dirJson.getFileNames().size(),
(int)_dir->getFileNames().size(),
_path.c_str());
_path.c_str(),
opencv32warn.c_str());
success = false;
}
}