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Added stereo option for the CalibrationDialog class

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Mathieu Labbe
2015-04-05 16:42:41 -04:00
parent 6a0e48a6fa
commit fee32c4e25
14 changed files with 1075 additions and 318 deletions
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corelib/src/SensorData.cpp
+2 -2
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@@ -102,7 +102,7 @@ SensorData::SensorData(const cv::Mat & image,
UASSERT(depthOrRightImage.type() == CV_32FC1 || // Depth in meter
depthOrRightImage.type() == CV_16UC1 || // Depth in millimetre
depthOrRightImage.type() == CV_8U); // Right stereo image
UASSERT(!depthOrRightImage.empty() && _fx>0.0f && _fyOrBaseline>0.0f && _cx>=0.0f && _cy>=0.0f);
UASSERT(!depthOrRightImage.empty());
UASSERT(!_localTransform.isNull());
UASSERT_MSG(uIsFinite(_poseRotVariance) && _poseRotVariance>0 && uIsFinite(_poseTransVariance) && _poseTransVariance>0, "Rotational and transitional variances should not be null! (set to 1 if unknown)");
}
@@ -143,7 +143,7 @@ SensorData::SensorData(const cv::Mat & laserScan,
UASSERT(depthOrRightImage.type() == CV_32FC1 || // Depth in meter
depthOrRightImage.type() == CV_16UC1 || // Depth in millimetre
depthOrRightImage.type() == CV_8U); // Right stereo image
UASSERT(!depthOrRightImage.empty() && _fx>0.0f && _fyOrBaseline>0.0f && _cx>=0.0f && _cy>=0.0f);
UASSERT(!depthOrRightImage.empty());
UASSERT(!_localTransform.isNull());
UASSERT_MSG(uIsFinite(_poseRotVariance) && _poseRotVariance>0 && uIsFinite(_poseTransVariance) && _poseTransVariance>0, "Rotational and transitional variances should not be null! (set to 1 if unknown)");
}