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Added image size to all camera calibration inputs. Memory::computeTransform() more fine tuning to know if data should be loaded from database.

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This commit is contained in:
matlabbe
2016-03-10 09:07:44 -05:00
parent 609cc3dc59
commit cee9c65b06
10 changed files with 312 additions and 261 deletions
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corelib/src/CameraStereo.cpp
+15 -2
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@@ -440,7 +440,8 @@ SensorData CameraStereoDC1394::captureImage()
stereoModel_.left().cx(), //cx
stereoModel_.left().cy(), //cy
stereoModel_.baseline(),
this->getLocalTransform());
this->getLocalTransform(),
left.size());
}
data = SensorData(left, right, model, this->getNextSeqID(), UTimer::now());
}
@@ -715,7 +716,8 @@ SensorData CameraStereoFlyCapture2::captureImage()
cx,
cy,
baseline,
this->getLocalTransform());
this->getLocalTransform(),
left.size());
data = SensorData(left, right, model, this->getNextSeqID(), UTimer::now());
}
}
@@ -892,6 +894,11 @@ SensorData CameraStereoImages::captureImage()
rightImage = stereoModel_.right().rectifyImage(rightImage);
}
if(stereoModel_.left().imageHeight() == 0 || stereoModel_.left().imageWidth() == 0)
{
stereoModel_.setImageSize(leftImage.size());
}
data = SensorData(left.laserScanRaw(), left.laserScanMaxPts(), 0, leftImage, rightImage, stereoModel_, left.id()/(camera2_?1:2), left.stamp());
data.setGroundTruth(left.groundTruth());
}
@@ -1013,6 +1020,12 @@ SensorData CameraStereoVideo::captureImage()
rightImage = rightImage.clone();
}
}
if(stereoModel_.left().imageHeight() == 0 || stereoModel_.left().imageWidth() == 0)
{
stereoModel_.setImageSize(leftImage.size());
}
data = SensorData(leftImage, rightImage, stereoModel_, this->getNextSeqID(), UTimer::now());
}
}