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Merge branch 'master' of https://github.com/bckim92/rtabmap into bckim92-master

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matlabbe
2015-12-08 13:47:49 -05:00
parent 6c452137b2 f5451ac13f
commit 8b2080df44
1 changed files with 7 additions and 6 deletions
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corelib/src/CameraRGBD.cpp
+7 -6
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@@ -1139,12 +1139,6 @@ CameraFreenect2::CameraFreenect2(
//MaxDepth(4.5f), //MaxDepth(4.5f),
//EnableBilateralFilter(true), //EnableBilateralFilter(true),
//EnableEdgeAwareFilter(true) //EnableEdgeAwareFilter(true)
libfreenect2::DepthPacketProcessor::Config config;
config.EnableBilateralFilter = bilateralFiltering_;
config.EnableEdgeAwareFilter = edgeAwareFiltering_;
config.MinDepth = minKinect2Depth_;
config.MaxDepth = maxKinect2Depth_;
pipeline_->getDepthPacketProcessor()->setConfiguration(config);
#endif #endif
} }
@@ -1274,6 +1268,13 @@ bool CameraFreenect2::init(const std::string & calibrationFolder, const std::str
} }
} }
libfreenect2::Freenect2Device::Config config;
config.EnableBilateralFilter = bilateralFiltering_;
config.EnableEdgeAwareFilter = edgeAwareFiltering_;
config.MinDepth = minKinect2Depth_;
config.MaxDepth = maxKinect2Depth_;
dev_->setConfiguration(config);
return true; return true;
} }
else else