i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'master' of https://github.com/introlab/rtabmap into devel

Browse Source
This commit is contained in:
matlabbe
2015-06-18 23:04:14 -04:00
parent 82943e85e8 6fe1e42181
commit b0a20abd66
17 changed files with 450 additions and 253 deletions
Download Patch File Download Diff File Expand all files Collapse all files
guilib/src/CalibrationDialog.cpp
+21 -6
View File
@@ -736,12 +736,27 @@ void CalibrationDialog::calibrate()
objectPoints.resize(stereoImagePoints_[0].size(), objectPoints[0]);
// calibrate extrinsic
double rms = cv::stereoCalibrate(objectPoints, stereoImagePoints_[0], stereoImagePoints_[1],
models_[0].K(), models_[0].D(),
models_[1].K(), models_[1].D(),
imageSize, R, T, E, F,
cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, 1e-5),
cv::CALIB_FIX_INTRINSIC);
#if CV_MAJOR_VERSION < 3
double rms = cv::stereoCalibrate(
objectPoints,
stereoImagePoints_[0],
stereoImagePoints_[1],
models_[0].K(), models_[0].D(),
models_[1].K(), models_[1].D(),
imageSize, R, T, E, F,
cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, 1e-5),
cv::CALIB_FIX_INTRINSIC);
#else
double rms = cv::stereoCalibrate(
objectPoints,
stereoImagePoints_[0],
stereoImagePoints_[1],
models_[0].K(), models_[0].D(),
models_[1].K(), models_[1].D(),
imageSize, R, T, E, F,
cv::CALIB_FIX_INTRINSIC,
cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, 1e-5));
#endif
UINFO("stereo calibration... done with RMS error=%f", rms);
double err = 0;