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Increased version to 0.12.4, Tango: gain compensation on each channel, added min depth parameter, fixed exporting failing when doing export just after opening a database

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matlabbe
2017-04-01 14:14:36 -04:00
parent d68eeada0e
commit aa37ac6038
19 changed files with 271 additions and 113 deletions
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corelib/include/rtabmap/core/GainCompensator.h
+2 -2
View File
@@ -43,7 +43,7 @@ namespace rtabmap {
*/
class RTABMAP_EXP GainCompensator {
public:
GainCompensator(double maxCorrespondenceDistance = 0.02, double minOverlap = 0.05, double alpha = 0.01, double beta = 10);
GainCompensator(double maxCorrespondenceDistance = 0.02, double minOverlap = 0.0, double alpha = 0.01, double beta = 10);
virtual ~GainCompensator();
void feed(
@@ -86,7 +86,7 @@ public:
int id,
cv::Mat & image) const;
double getGain(int id) const;
double getGain(int id, double * r=0, double * g=0, double * b=0) const;
int getIndex(int id) const;
private:
corelib/src/GainCompensator.cpp
+15 -1
View File
@@ -468,9 +468,23 @@ void GainCompensator::apply(
}
}
double GainCompensator::getGain(int id) const
double GainCompensator::getGain(int id, double * r, double * g, double * b) const
{
UASSERT_MSG(uContains(idToIndex_, id), uFormat("id=%d idToIndex_.size()=%d", id, (int)idToIndex_.size()).c_str());
if(r)
{
*r = gains_(idToIndex_.at(id), 1);
}
if(g)
{
*g = gains_(idToIndex_.at(id), 2);
}
if(b)
{
*b = gains_(idToIndex_.at(id), 3);
}
return gains_(idToIndex_.at(id), 0);
}