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Added Monocular SLAM (experimental), Odometry classes refactoring

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Mathieu Labbe
2015-04-23 22:01:41 -04:00
parent 39dce825d6
commit fa3a2421f6
39 changed files with 4138 additions and 2702 deletions
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16
guilib/src/LoopClosureViewer.cpp
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@@ -109,8 +109,8 @@ void LoopClosureViewer::updateView(const Transform & transform)
{
cloudA = util3d::cloudFromStereoImages(
sA_.getImageRaw(),
sA_.getDepthRaw(),
sA_.getDepthCx(), sA_.getDepthCy(),
sA_.getDepthRaw(),
sA_.getCx(), sA_.getCy(),
sA_.getFx(), sA_.getFy(),
decimation);
}
@@ -118,8 +118,8 @@ void LoopClosureViewer::updateView(const Transform & transform)
{
cloudA = util3d::cloudFromDepthRGB(
sA_.getImageRaw(),
sA_.getDepthRaw(),
sA_.getDepthCx(), sA_.getDepthCy(),
sA_.getDepthRaw(),
sA_.getCx(), sA_.getCy(),
sA_.getFx(), sA_.getFy(),
decimation);
}
@@ -141,8 +141,8 @@ void LoopClosureViewer::updateView(const Transform & transform)
{
cloudB = util3d::cloudFromStereoImages(
sB_.getImageRaw(),
sB_.getDepthRaw(),
sB_.getDepthCx(), sB_.getDepthCy(),
sB_.getDepthRaw(),
sB_.getCx(), sB_.getCy(),
sB_.getFx(), sB_.getFy(),
decimation);
}
@@ -150,8 +150,8 @@ void LoopClosureViewer::updateView(const Transform & transform)
{
cloudB = util3d::cloudFromDepthRGB(
sB_.getImageRaw(),
sB_.getDepthRaw(),
sB_.getDepthCx(), sB_.getDepthCy(),
sB_.getDepthRaw(),
sB_.getCx(), sB_.getCy(),
sB_.getFx(), sB_.getFy(),
decimation);
}