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Added CalibrationDialog in Preferences->source for convenience. The database is also changed to handle new FX, FY, CX and CY intrinsic parameters instead of only depthConstant parameter. Added version of the database in a new table Admin. Updated to version 0.7.0.

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1613 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-26 04:36:00 +00:00
parent 1557b3d44d
commit f090c81aaf
44 changed files with 1389 additions and 715 deletions
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corelib/src/RtabmapThread.cpp
+20 -5
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@@ -95,7 +95,10 @@ void RtabmapThread::publishMap(bool optimized, bool full) const
std::map<int, std::vector<unsigned char> > images;
std::map<int, std::vector<unsigned char> > depths;
std::map<int, std::vector<unsigned char> > depths2d;
std::map<int, float> depthConstants;
std::map<int, float> depthFxs;
std::map<int, float> depthFys;
std::map<int, float> depthCxs;
std::map<int, float> depthCys;
std::map<int, Transform> localTransforms;
std::map<int, Transform> poses;
std::multimap<int, Link> constraints;
@@ -103,7 +106,10 @@ void RtabmapThread::publishMap(bool optimized, bool full) const
_rtabmap->get3DMap(images,
depths,
depths2d,
depthConstants,
depthFxs,
depthFys,
depthCxs,
depthCys,
localTransforms,
poses,
constraints,
@@ -113,7 +119,10 @@ void RtabmapThread::publishMap(bool optimized, bool full) const
this->post(new RtabmapEvent3DMap(images,
depths,
depths2d,
depthConstants,
depthFxs,
depthFys,
depthCxs,
depthCys,
localTransforms,
poses,
constraints));
@@ -124,7 +133,10 @@ void RtabmapThread::publishTOROGraph(bool optimized, bool full) const
std::map<int, std::vector<unsigned char> > images;
std::map<int, std::vector<unsigned char> > depths;
std::map<int, std::vector<unsigned char> > depths2d;
std::map<int, float> depthConstants;
std::map<int, float> depthFxs;
std::map<int, float> depthFys;
std::map<int, float> depthCxs;
std::map<int, float> depthCys;
std::map<int, Transform> localTransforms;
std::map<int, Transform> poses;
std::multimap<int, Link> constraints;
@@ -137,7 +149,10 @@ void RtabmapThread::publishTOROGraph(bool optimized, bool full) const
this->post(new RtabmapEvent3DMap(images,
depths,
depths2d,
depthConstants,
depthFxs,
depthFys,
depthCxs,
depthCys,
localTransforms,
poses,
constraints));