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Added Freenect camera source

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1310 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-03 04:42:08 +00:00
parent c53d918422
commit acd208fc6a
14 changed files with 647 additions and 90 deletions
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3
examples/RGBDMapping/main.cpp
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@@ -20,6 +20,7 @@
#include "rtabmap/core/Rtabmap.h"
#include "rtabmap/core/RtabmapThread.h"
#include "rtabmap/core/CameraOpenni.h"
#include "rtabmap/core/CameraFreenect.h"
#include "rtabmap/core/Odometry.h"
#include "rtabmap/utilite/UEventsManager.h"
#include <QtGui/QApplication>
@@ -43,6 +44,8 @@ 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
CameraOpenni camera("", 10, rtabmap::Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0));
//CameraOpenKinect camera(0, 10, rtabmap::Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0));
if(!camera.init())
{
UERROR("Camera init failed!");