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Updated fov of fake camera model when subscribing only to scan

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This commit is contained in:
matlabbe
2020-06-01 13:29:45 -04:00
parent 9fcc4c6741
commit 250a56f741
2 changed files with 31 additions and 31 deletions
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src/CoreWrapper.cpp
+21 -21
View File
@@ -1576,16 +1576,16 @@ void CoreWrapper::commonLaserScanCallback(
userData_ = cv::Mat();
}
cv::Mat rgb = cv::Mat::zeros(2,1,CV_8UC1);
cv::Mat depth = cv::Mat::zeros(2,1,CV_16UC1);
cv::Mat rgb = cv::Mat::zeros(3,4,CV_8UC1);
cv::Mat depth = cv::Mat::zeros(3,4,CV_16UC1);
CameraModel model(
1,
1,
0.5,
1,
2,
2,
2,
1.5,
scan.localTransform()*Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0),
0,
cv::Size(1,2));
cv::Size(4,3));
SensorData data(
scan,
@@ -1649,16 +1649,16 @@ void CoreWrapper::commonOdomCallback(
userData_ = cv::Mat();
}
cv::Mat rgb = cv::Mat::zeros(2,1,CV_8UC1);
cv::Mat depth = cv::Mat::zeros(2,1,CV_16UC1);
cv::Mat rgb = cv::Mat::zeros(3,4,CV_8UC1);
cv::Mat depth = cv::Mat::zeros(3,4,CV_16UC1);
CameraModel model(
1,
1,
0.5,
1,
2,
2,
2,
1.5,
Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0),
0,
cv::Size(1,2));
cv::Size(4,3));
SensorData data(
rgb,
@@ -1732,16 +1732,16 @@ void CoreWrapper::process(
}
}
cv::Mat rgb = cv::Mat::zeros(2,1,CV_8UC1);
cv::Mat depth = cv::Mat::zeros(2,1,CV_16UC1);
cv::Mat rgb = cv::Mat::zeros(3,4,CV_8UC1);
cv::Mat depth = cv::Mat::zeros(3,4,CV_16UC1);
CameraModel model(
1,
1,
0.5,
1,
2,
2,
2,
1.5,
Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0),
0,
cv::Size(1,2));
cv::Size(4,3));
SensorData interData(rgb, depth, model, -1, rtabmap_ros::timestampFromROS(iter->first.header.stamp));
Transform gt;
if(!groundTruthFrameId_.empty())
src/GuiWrapper.cpp
+10 -10
View File
@@ -899,13 +899,13 @@ void GuiWrapper::commonLaserScanCallback(
cv::Mat rgb;
cv::Mat depth;
CameraModel model(
1,
1,
0.5,
1,
2,
2,
2,
1.5,
(fakeCameraLocalTransform.isNull()?scan.localTransform():fakeCameraLocalTransform)*Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0),
0,
cv::Size(1,2));
cv::Size(4,3));
info.reg.covariance = covariance;
rtabmap::OdometryEvent odomEvent(
@@ -983,13 +983,13 @@ void GuiWrapper::commonOdomCallback(
cv::Mat rgb;
cv::Mat depth;
CameraModel model(
1,
1,
0.5,
1,
2,
2,
2,
1.5,
Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0),
0,
cv::Size(1,2));
cv::Size(4,3));
info.reg.covariance = covariance;
rtabmap::OdometryEvent odomEvent(