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Odometry: added force2D option

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Changed parameter RGBD/ScanMatchingSize to RGBD/PoseScanMatching

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2050 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-19 23:38:15 +00:00
parent 89bcea3057
commit faf43cc82c
9 changed files with 127 additions and 88 deletions
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5
tools/CameraRGBD/main.cpp
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@@ -120,6 +120,7 @@ int main(int argc, char * argv[])
cv::namedWindow("Video", CV_WINDOW_AUTOSIZE); // create window
cv::namedWindow("Depth", CV_WINDOW_AUTOSIZE); // create window
pcl::visualization::CloudViewer viewer("cloud");
rtabmap::Transform opticalTransform(0,0,1,0, -1,0,0,0, 0,-1,0,0);
while(!rgb.empty() && !viewer.wasStopped())
{
cv::Mat tmp;
@@ -128,7 +129,9 @@ int main(int argc, char * argv[])
cv::imshow("Video", rgb); // show frame
cv::imshow("Depth",tmp);
viewer.showCloud(rtabmap::util3d::cloudFromDepthRGB(rgb, depth, cx, cy, fx, fy), "cloud");
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = rtabmap::util3d::cloudFromDepthRGB(rgb, depth, cx, cy, fx, fy);
cloud = rtabmap::util3d::transformPointCloud<pcl::PointXYZRGB>(cloud, opticalTransform);
viewer.showCloud(cloud, "cloud");
int c = cv::waitKey(10); // wait 10 ms or for key stroke
if(c == 27)