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0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)

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This commit is contained in:
matlabbe
2017-03-12 21:21:09 -04:00
parent c12980ee91
commit d21ae76fff
56 changed files with 1869 additions and 662 deletions
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11
tools/Calibration/main.cpp
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@@ -129,12 +129,14 @@ int main(int argc, char * argv[])
UINFO("Using device %d", device);
UINFO("Stereo: %s", stereo?"true":"false");
bool switchImages = false;
QApplication app(argc, argv);
rtabmap::CalibrationDialog dialog(stereo, ".");
rtabmap::Camera * camera = 0;
if(driver == -1)
{
camera = new rtabmap::CameraVideo(device);
dialog.setStereoMode(stereo);
}
else if(driver == 0)
{
@@ -183,8 +185,9 @@ int main(int argc, char * argv[])
UERROR("Not built with Freenect2 support...");
exit(-1);
}
switchImages = true;
camera = new rtabmap::CameraFreenect2(0, rtabmap::CameraFreenect2::kTypeColorIR);
dialog.setSwitchedImages(true);
dialog.setStereoMode(stereo, "rgb", "depth");
}
else if(driver == 6)
{
@@ -194,6 +197,7 @@ int main(int argc, char * argv[])
exit(-1);
}
camera = new rtabmap::CameraStereoDC1394();
dialog.setStereoMode(stereo);
}
else if(driver == 7)
{
@@ -203,6 +207,7 @@ int main(int argc, char * argv[])
exit(-1);
}
camera = new rtabmap::CameraStereoFlyCapture2();
dialog.setStereoMode(stereo);
}
else
{
@@ -222,8 +227,6 @@ int main(int argc, char * argv[])
cameraThread = new rtabmap::CameraThread(camera);
}
QApplication app(argc, argv);
rtabmap::CalibrationDialog dialog(stereo, ".", switchImages);
dialog.registerToEventsManager();
dialog.show();