i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

fixed fatal error (fx==0) on kinect v2 calibration, added tx,ty,tz to camera local transform in Preferences

Browse Source
This commit is contained in:
matlabbe
2015-07-09 10:01:41 -04:00
parent bf4715b73c
commit 3b226a0d92
4 changed files with 44 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
corelib/src/CameraRGBD.cpp
View File

@@ -1459,12 +1459,16 @@ SensorData CameraFreenect2::captureImage()
}
}
CameraModel model(
fx, //fx
fy, //fy
cx, //cx
cy, // cy
this->getLocalTransform());
CameraModel model;
if(fx && fy)
{
model=CameraModel(
fx, //fx
fy, //fy
cx, //cx
cy, // cy
this->getLocalTransform());
}
data = SensorData(rgb, depth, model, this->getNextSeqID(), stamp);
listener_->release(frames);