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Added stereo option for the CalibrationDialog class

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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/src/Odometry.cpp
+10
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@@ -115,6 +115,16 @@ Transform Odometry::process(const SensorData & data, OdometryInfo * info)
_pose.setIdentity(); // initialized
}
UASSERT(!data.image().empty());
UASSERT(!data.depthOrRightImage().empty());
if(data.fx() <= 0 || data.fyOrBaseline() <= 0)
{
UERROR("Rectified images required! Calibrate your camera. (fx=%f, fy/baseline=%f, cx=%f, cy=%f)",
data.fx(), data.fyOrBaseline(), data.cx(), data.cy());
return Transform();
}
UTimer time;
Transform t = this->computeTransform(data, info);