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Added OpenNI2 and Freenect calibration #115

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This commit is contained in:
matlabbe
2016-09-13 18:26:18 -04:00
parent e5977d6157
commit acb700bd27
14 changed files with 1248 additions and 753 deletions
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4
tools/DataRecorder/main.cpp
View File

@@ -188,7 +188,7 @@ int main (int argc, char * argv[])
UERROR("Not built with OpenNI2 support...");
exit(-1);
}
camera = new rtabmap::CameraOpenNI2(deviceId, rate, t);
camera = new rtabmap::CameraOpenNI2(deviceId, CameraOpenNI2::kTypeColorDepth, rate, t);
}
else if(driver == 2)
{
@@ -197,7 +197,7 @@ int main (int argc, char * argv[])
UERROR("Not built with Freenect support...");
exit(-1);
}
camera = new rtabmap::CameraFreenect(deviceId.size()?atoi(deviceId.c_str()):0, rate, t);
camera = new rtabmap::CameraFreenect(deviceId.size()?atoi(deviceId.c_str()):0, CameraFreenect::kTypeColorDepth, rate, t);
}
else if(driver == 3)
{

4
tools/OdometryViewer/main.cpp
View File

@@ -241,7 +241,7 @@ int main (int argc, char * argv[])
UERROR("Not built with OpenNI2 support...");
exit(-1);
}
camera = new rtabmap::CameraOpenNI2("", rate, t);
camera = new rtabmap::CameraOpenNI2("", rtabmap::CameraOpenNI2::kTypeColorDepth, rate, t);
}
else if(driver == 2)
{
@@ -250,7 +250,7 @@ int main (int argc, char * argv[])
UERROR("Not built with Freenect support...");
exit(-1);
}
camera = new rtabmap::CameraFreenect(0, rate, t);
camera = new rtabmap::CameraFreenect(0, rtabmap::CameraFreenect::kTypeColorDepth, rate, t);
}
else if(driver == 3)
{