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Added Stereo and StereoDense base classes (with Stereo->StereoOpticalFlow and StereoDense->StereoBM) to handle easily stereo parameters. Added stereoEval tool to test Stereo/OpticalFlow=false or true. Added StereoBM parameters. Refactoring of the Preferences dialog (tree view order and some titles)

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matlabbe
2015-12-11 17:44:15 -05:00
parent 818eda005f
commit 9cc94ce1e6
44 changed files with 6866 additions and 4311 deletions
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tools/CameraRGBD/main.cpp
+1 -4
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@@ -377,10 +377,7 @@ int main(int argc, char * argv[])
}
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = rtabmap::util3d::cloudFromStereoImages(
rgb, right,
data.stereoCameraModel().left().cx(),
data.stereoCameraModel().left().cy(),
data.stereoCameraModel().left().fx(),
data.stereoCameraModel().baseline());
data.stereoCameraModel());
cloud = rtabmap::util3d::transformPointCloud(cloud, t);
if(viewer)
viewer->showCloud(cloud, "cloud");