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Added rtabmap-camera tool. Added Export button in Calibration dialog to

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save calibration to yaml file (same format as ROS).
This commit is contained in:
Mathieu Labbe
2015-01-19 16:14:49 -05:00
parent e7ae2c5e31
commit fdf7f69783
10 changed files with 458 additions and 20 deletions
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utilite/include/rtabmap/utilite/UMath.h
+54 -4
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@@ -533,18 +533,68 @@ inline T uVariance(const std::vector<T> & v, const T & m)
}
/**
* Get the norm of the vector : return sqrt(x1*x1 + x2*x2 + x3*x3 + ...)
* @return the norm of the vector
* Get the squared norm of the vector : return x1*x1 + x2*x2 + x3*x3 + ...
* @return the squared norm of the vector
*/
template<class T>
inline T uNorm(const std::vector<T> & v)
inline T uNormSquared(const std::vector<T> & v)
{
float sum = 0.0f;
for(unsigned int i=0; i<v.size(); ++i)
{
sum += v[i]*v[i];
}
return std::sqrt(sum);
return sum;
}
/**
* Get the norm of the vector : return sqrt(x1*x1 + x2*x2 + x3*x3 + ...)
* @return the norm of the vector
*/
template<class T>
inline T uNorm(const std::vector<T> & v)
{
return std::sqrt(uNormSquared(v));
}
/**
* Get the squared norm of the vector : return x1*x1 + x2*x2
* @return the squared norm of the vector
*/
template<class T>
inline T uNormSquared(const T & x1, const T & x2)
{
return x1*x1 + x2*x2;
}
/**
* Get the norm of the vector : return sqrt(x1*x1 + x2*x2 + x3*x3)
* @return the norm of the vector
*/
template<class T>
inline T uNorm(const T & x1, const T & x2)
{
return std::sqrt(uNormSquared(x1, x2));
}
/**
* Get the squared norm of the vector : return x1*x1 + x2*x2 + x3*x3
* @return the squared norm of the vector
*/
template<class T>
inline T uNormSquared(const T & x1, const T & x2, const T & x3)
{
return x1*x1 + x2*x2 + x3*x3;
}
/**
* Get the norm of the vector : return sqrt(x1*x1 + x2*x2 + x3*x3)
* @return the norm of the vector
*/
template<class T>
inline T uNorm(const T & x1, const T & x2, const T & x3)
{
return std::sqrt(uNormSquared(x1, x2, x3));
}
/**