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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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guilib/include/rtabmap/gui/MainWindow.h
+8 -2
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@@ -189,7 +189,10 @@ private:
int id,
const cv::Mat & rgb,
const cv::Mat & depth,
float depthConstant,
float fx,
float fy,
float cx,
float cy,
const Transform & localTransform,
const Transform & pose,
float voxelSize,
@@ -224,7 +227,10 @@ private:
QMap<int, std::vector<unsigned char> > _imagesMap;
QMap<int, std::vector<unsigned char> > _depthsMap;
QMap<int, std::vector<unsigned char> > _depths2DMap;
QMap<int, float> _depthConstantsMap;
QMap<int, float> _depthFxsMap;
QMap<int, float> _depthFysMap;
QMap<int, float> _depthCxsMap;
QMap<int, float> _depthCysMap;
QMap<int, Transform> _localTransformsMap;
std::map<int, Transform> _currentPosesMap;
Transform _odometryCorrection;