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Refactored Camera classes and Preferences->Source menu

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This commit is contained in:
matlabbe
2015-06-26 18:21:32 -04:00
parent 6f1df94b18
commit 6df403ed42
39 changed files with 3543 additions and 3388 deletions
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examples/RGBDMapping/main.cpp
+5 -4
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@@ -71,7 +71,7 @@ int main(int argc, char * argv[])
// Create the OpenNI camera, it will send a CameraEvent at the rate specified.
// Set transform to camera so z is up, y is left and x going forward
CameraRGBD * camera = 0;
Camera * camera = 0;
Transform opticalRotation(0,0,1,0, -1,0,0,0, 0,-1,0,0);
if(driver == 1)
{
@@ -114,13 +114,14 @@ int main(int argc, char * argv[])
camera = new rtabmap::CameraOpenni("", 0, opticalRotation);
}
CameraThread cameraThread(camera);
if(!cameraThread.init())
if(!camera->init())
{
UERROR("Camera init failed!");
exit(1);
}
CameraThread cameraThread(camera);
// GUI stuff, there the handler will receive RtabmapEvent and construct the map
// We give it the camera so the GUI can pause/resume the camera
QApplication app(argc, argv);