i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added CameraRGBD with openni from OpenCV, removed feature2D stuff from Camera

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1358 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-13 03:47:39 +00:00
parent f423b1b743
commit 0bba363f5f
11 changed files with 345 additions and 309 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
tools/ConsoleApp/main.cpp
View File

@@ -422,20 +422,14 @@ int main(int argc, char * argv[])
}
printf("\nProcessing images...\n");
//setup camera
camera->setFeaturesExtracted(true);
camera->parseParameters(pm);
UTimer iterationTimer;
UTimer rtabmapTimer;
int imagesProcessed = 0;
std::list<std::vector<float> > teleopActions;
while(loopDataset <= repeat && g_forever)
{
cv::Mat descriptors;
std::vector<cv::KeyPoint> keypoints;
cv::Mat cvImg = camera->takeImage(descriptors, keypoints);
Image img(cvImg, 0, descriptors, keypoints);
cv::Mat cvImg = camera->takeImage();
Image img(cvImg, 0);
int i=0;
double maxIterationTime = 0.0;
int maxIterationTimeId = 0;
@@ -451,8 +445,8 @@ int main(int argc, char * argv[])
{
++countLoopDetected;
}
cvImg = camera->takeImage(descriptors, keypoints);
img = Image(cvImg, 0, descriptors, keypoints);
cvImg = camera->takeImage();
img = Image(cvImg, 0);
if(++count % 100 == 0)
{
printf(" count = %d, loop closures = %d, max time (at %d) = %fs\n",