[Jderobot-admin] jderobot-r1030 - trunk/src/stable/components/rgbdManualCalibrator

[frivas en jderobot.org]

Author: frivas
Date: 2013-10-10 15:49:33 +0200 (Thu, 10 Oct 2013)
New Revision: 1030

Modified:
   trunk/src/stable/components/rgbdManualCalibrator/rgbdManualCalibrator.cfg
   trunk/src/stable/components/rgbdManualCalibrator/view.cpp
Log:
#53 solved an issue with multi-rgbd reconstruction 


Modified: trunk/src/stable/components/rgbdManualCalibrator/rgbdManualCalibrator.cfg
===================================================================
--- trunk/src/stable/components/rgbdManualCalibrator/rgbdManualCalibrator.cfg	2013-10-10 10:48:39 UTC (rev 1029)
+++ trunk/src/stable/components/rgbdManualCalibrator/rgbdManualCalibrator.cfg	2013-10-10 13:49:33 UTC (rev 1030)
@@ -5,7 +5,7 @@
 rgbdManualCalibrator.Camera.FileOut=./config-example/cam-out
 rgbdManualCalibrator.World.File=./config-example/lambecom
 
-rgbdManualCalibrator.nCameras=2
+rgbdManualCalibrator.nCameras=1
 
-rgbdManualCalibrator.Camera.0.Calibration=./config-example/cam-in
+rgbdManualCalibrator.Camera.0.Calibration=camera-0.cfg
 rgbdManualCalibrator.Camera.1.Calibration=c./config-example/cam-in

Modified: trunk/src/stable/components/rgbdManualCalibrator/view.cpp
===================================================================
--- trunk/src/stable/components/rgbdManualCalibrator/view.cpp	2013-10-10 10:48:39 UTC (rev 1029)
+++ trunk/src/stable/components/rgbdManualCalibrator/view.cpp	2013-10-10 13:49:33 UTC (rev 1030)
@@ -210,7 +210,7 @@
 			this->world->clear_points();
 			for (int pos=0; pos< nCameras; pos++){
 				int colour;
-				cv::Mat srcDEPTH =sources[cam].DEPTH->getImage();
+				cv::Mat srcDEPTH =sources[pos].DEPTH->getImage();
 
 				cv::Mat distance(srcDEPTH.rows, srcDEPTH.cols, CV_32FC1);
 				//split channels to separate distance from image
@@ -221,7 +221,7 @@
 					for (int y=0; y<layers[1].rows; y++){
 						distance.at<float>(y,x) = ((int)layers[1].at<unsigned char>(y,x)<<8)|(int)layers[2].at<unsigned char>(y,x);					}
 				}
-				cv::Mat rgb = sources[cam].RGB->getImage();
+				cv::Mat rgb = sources[pos].RGB->getImage();
 				if (this->trueColor)
 					colour=0;
 				else