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Refactoring CameraRGBD class (now including OpenNI, OpenNI2, OpenNI from OpenCV and Freenect)

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Added tool to test RGB-D camera: rtabmap-rgbd_camera
Fixed Freenect corrupted depth image (after some time)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1366 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-15 03:31:35 +00:00
parent 81b3b49f97
commit c18f1501d4
25 changed files with 1248 additions and 1579 deletions
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tools/OdometryViewer/main.cpp
+3 -2
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@@ -4,7 +4,8 @@
#include <rtabmap/utilite/UFile.h>
#include <rtabmap/core/Odometry.h>
#include <rtabmap/gui/OdometryViewer.h>
#include <rtabmap/core/CameraOpenni.h>
#include <rtabmap/core/CameraThread.h>
#include <rtabmap/core/CameraRGBD.h>
#include <rtabmap/core/DBReader.h>
#include <QtGui/QApplication>
@@ -555,7 +556,7 @@ int main (int argc, char * argv[])
}
else
{
rtabmap::CameraOpenni camera("", rate, rtabmap::Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0));
rtabmap::CameraThread camera(new rtabmap::CameraOpenni("", rate, rtabmap::Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0)));
if(camera.init())
{
odomThread.start();