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fixed odometry localTransform for Openni camera from OpenCV

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1361 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-13 04:05:12 +00:00
parent 26b27fda8d
commit 2c1ee42986
1 changed files with 4 additions and 2 deletions
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6
guilib/src/PreferencesDialog.cpp
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@@ -2753,9 +2753,11 @@ void PreferencesDialog::testOdometry(OdomType type)
} }
else if(this->getSourceRGBD() == kSrcOpenNI_CV || this->getSourceRGBD() == kSrcOpenNI_CV_ASUS) else if(this->getSourceRGBD() == kSrcOpenNI_CV || this->getSourceRGBD() == kSrcOpenNI_CV_ASUS)
{ {
_odomCameraOpenNICv = new CameraThread(new CameraRGBD( Camera * camera = new CameraRGBD(
this->getGeneralInputRate(), this->getGeneralInputRate(),
this->getSourceRGBD() == kSrcOpenNI_CV_ASUS)); this->getSourceRGBD() == kSrcOpenNI_CV_ASUS);
camera->setLocalTransform(this->getSourceOpenniLocalTransform());
_odomCameraOpenNICv = new CameraThread(camera);
if(!_odomCameraOpenNICv->init()) if(!_odomCameraOpenNICv->init())
{ {
QMessageBox::warning(this, QMessageBox::warning(this,