From 2c1ee42986f501e4ac51f7f8b80b0a44f3dcdc6e Mon Sep 17 00:00:00 2001 From: matlabbe Date: Fri, 13 Jun 2014 04:05:12 +0000 Subject: [PATCH] fixed odometry localTransform for Openni camera from OpenCV git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1361 f169173b-cf89-36c8-b27e-44dbe73f0c83 --- guilib/src/PreferencesDialog.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/guilib/src/PreferencesDialog.cpp b/guilib/src/PreferencesDialog.cpp index 169fd5fd..9b621100 100644 --- a/guilib/src/PreferencesDialog.cpp +++ b/guilib/src/PreferencesDialog.cpp @@ -2753,9 +2753,11 @@ void PreferencesDialog::testOdometry(OdomType type) } else if(this->getSourceRGBD() == kSrcOpenNI_CV || this->getSourceRGBD() == kSrcOpenNI_CV_ASUS) { - _odomCameraOpenNICv = new CameraThread(new CameraRGBD( + Camera * camera = new CameraRGBD( this->getGeneralInputRate(), - this->getSourceRGBD() == kSrcOpenNI_CV_ASUS)); + this->getSourceRGBD() == kSrcOpenNI_CV_ASUS); + camera->setLocalTransform(this->getSourceOpenniLocalTransform()); + _odomCameraOpenNICv = new CameraThread(camera); if(!_odomCameraOpenNICv->init()) { QMessageBox::warning(this,