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Added stereo option for the CalibrationDialog class

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This commit is contained in:
Mathieu Labbe
2015-04-05 16:42:41 -04:00
parent 6a0e48a6fa
commit fee32c4e25
14 changed files with 1075 additions and 318 deletions
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corelib/include/rtabmap/core/CameraRGBD.h
+17 -2
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@@ -81,6 +81,7 @@ public:
virtual ~CameraRGBD();
void takeImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy);
virtual bool init() = 0;
virtual std::string getSerial() const = 0;
//getters
float getImageRate() const {return _imageRate;}
@@ -154,7 +155,8 @@ public:
const boost::shared_ptr<openni_wrapper::DepthImage>& depth,
float constant);
bool init();
virtual bool init();
virtual std::string getSerial() const;
protected:
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy);
@@ -191,6 +193,7 @@ public:
virtual ~CameraOpenNICV();
virtual bool init();
virtual std::string getSerial() const {return "";} // unknown with OpenCV
protected:
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy);
@@ -223,6 +226,7 @@ public:
virtual ~CameraOpenNI2();
virtual bool init();
virtual std::string getSerial() const;
bool setAutoWhiteBalance(bool enabled);
bool setAutoExposure(bool enabled);
@@ -266,6 +270,7 @@ public:
virtual ~CameraFreenect();
bool init();
virtual std::string getSerial() const;
protected:
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy);
@@ -298,6 +303,7 @@ public:
virtual ~CameraFreenect2();
bool init();
virtual std::string getSerial() const;
protected:
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy);
@@ -321,7 +327,14 @@ public:
static bool available();
public:
// default local transform z in, x right, y down));
// The first constructor will not check for calibration files, so
// the images returned won't be rectified
CameraDC1394( float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity(),
float fx = 0.0f,
float fy = 0.0f,
float cx = 0.0f,
float cy = 0.0f);
CameraDC1394(const std::string & calibrationFolder,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity(),
@@ -332,11 +345,13 @@ public:
virtual ~CameraDC1394();
bool init();
virtual std::string getSerial() const;
protected:
virtual void captureImage(cv::Mat & left, cv::Mat & right, float & fx, float & baseline, float & cx, float & cy);
private:
bool lookForCalibration_;
std::string calibrationFolder_;
DC1394Device *device_;
StereoCameraModel stereoModel_;