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Merge branch 'master' of https://github.com/introlab/rtabmap into devel

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matlabbe
2015-06-18 23:04:14 -04:00
parent 82943e85e8 6fe1e42181
commit b0a20abd66
17 changed files with 450 additions and 253 deletions
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2
tools/ImagesJoiner/main.cpp
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@@ -104,7 +104,7 @@ int main(int argc, char * argv[])
{
CvSize sizeA = cvGetSize(imageA);
CvSize sizeB = cvGetSize(imageB);
CvSize targetSize = {0};
CvSize targetSize = cvSize(0,0);
targetSize.width = sizeA.width + sizeB.width;
targetSize.height = sizeA.height > sizeB.height ? sizeA.height : sizeB.height;
IplImage* targetImage = cvCreateImage(targetSize, imageA->depth, imageA->nChannels);

2
tools/OdometryViewer/main.cpp
View File

@@ -671,7 +671,7 @@ int main (int argc, char * argv[])
if(mono)
{
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomPnPFlags(), uNumber2Str(cv::ITERATIVE)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomPnPFlags(), uNumber2Str(0))); //CV_ITERATIVE
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomPnPReprojError(), "4.0"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomIterations(), "100"));
odom = new rtabmap::OdometryMono(parameters);