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Merged pcl_integration branch to trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-12-11 00:12:44 +00:00
parent 97c70d394e
commit 8b8511e154
124 changed files with 21692 additions and 4458 deletions
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tools/ConsoleApp/CMakeLists.txt
+5 -1
View File
@@ -9,19 +9,23 @@ SET(INCLUDE_DIRS
${CMAKE_CURRENT_SOURCE_DIR}
${OpenCV_INCLUDE_DIRS}
${CMAKE_CURRENT_SOURCE_DIR}/../include
${PCL_INCLUDE_DIRS}
)
SET(LIBRARIES
${OpenCV_LIBRARIES}
${PCL_LIBRARIES}
)
add_definitions(${PCL_DEFINITIONS})
# Make sure the compiler can find include files from our library.
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
# Add binary called "consoleApp" that is built from the source file "main.cpp".
# The extension is automatically found.
ADD_EXECUTABLE(consoleApp ${SRC_FILES})
TARGET_LINK_LIBRARIES(consoleApp rtabmap_corelib rtabmap_utilite ${LIBRARIES})
TARGET_LINK_LIBRARIES(consoleApp rtabmap_core rtabmap_utilite ${LIBRARIES})
SET_TARGET_PROPERTIES( consoleApp
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-console)
tools/ConsoleApp/main.cpp
+3 -3
View File
@@ -357,11 +357,11 @@ int main(int argc, char * argv[])
Camera * camera = 0;
if(UDirectory::exists(path))
{
camera = new CameraImages(path, startAt, false, 1/rate, false, imageWidth, imageHeight, framesDropped);
camera = new CameraImages(path, startAt, false, 1/rate, imageWidth, imageHeight, framesDropped);
}
else
{
camera = new CameraVideo(path, 1/rate, false, imageWidth, imageHeight, framesDropped);
camera = new CameraVideo(path, 1/rate, imageWidth, imageHeight, framesDropped);
}
if(!camera || !camera->init())
@@ -418,7 +418,7 @@ int main(int argc, char * argv[])
}
if(rtabmap.getWM().size() || rtabmap.getSTM().size())
{
printf("[Warning] RTAB-Map database is not empty (%s)\n", (rtabmap.getWorkingDir()+Rtabmap::kDefaultDatabaseName).c_str());
printf("[Warning] RTAB-Map database is not empty (%s)\n", (rtabmap.getWorkingDir()+Parameters::getDefaultDatabaseName()).c_str());
}
printf("\nProcessing images...\n");