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CameraImages: moved scan filtering stuff to CameraThread

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Preferences->Source: refactored scan filtering parameters
OdometryF2M and OdometryF2F: moved odom orientation init from IMU to OdometryROS instead
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matlabbe
2019-01-15 15:41:07 -05:00
parent 42c8ed0c0f
commit 9da2c1918f
12 changed files with 210 additions and 269 deletions
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2
tools/OdometryViewer/main.cpp
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@@ -311,7 +311,7 @@ int main (int argc, char * argv[])
{
rtabmap::CameraThread cameraThread(camera, parameters);
cameraThread.setScanFromDepth(icp, decimation<1?1:decimation, maxDepth, voxelSize, normalsK, normalsRadius);
cameraThread.setScanParameters(icp, decimation<1?1:decimation, 0, maxDepth, voxelSize, normalsK, normalsRadius);
odomThread.start();
cameraThread.start();