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CameraThread: Added stereo to depth option. Added parameter "Mem/SaveDepth16Format".

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matlabbe
2015-08-27 17:16:12 -04:00
parent 0651d5dfbd
commit ce2bbd8feb
16 changed files with 343 additions and 230 deletions
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3
tools/CameraRGBD/main.cpp
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@@ -27,6 +27,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/CameraRGBD.h"
#include "rtabmap/core/CameraStereo.h"
#include "rtabmap/core/util2d.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util3d_transforms.h"
#include "rtabmap/utilite/ULogger.h"
@@ -322,7 +323,7 @@ int main(int argc, char * argv[])
cv::Mat depth = data.depthRaw();
if(depth.type() == CV_32FC1)
{
depth = rtabmap::util3d::cvtDepthFromFloat(depth);
depth = rtabmap::util2d::cvtDepthFromFloat(depth);
}
if(rgb.cols == depth.cols && rgb.rows == depth.rows &&

1
tools/OdometryViewer/main.cpp
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@@ -807,7 +807,6 @@ int main (int argc, char * argv[])
if(camera->isCalibrated())
{
rtabmap::CameraThread cameraThread(camera);
cameraThread.setColorOnly(true);
odomThread.start();
cameraThread.start();