Re: Cplusplus Loop Closure Detection

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Cplusplus-Loop-Closure-Detection-tp686p707.html

Hi,

This is the old interface, the outputs are the parameters:

CameraOpenni camera;
if(camera.init())
{
   cv::Mat rgb,depth;
   float fx,fy,cx,cy;
   camera.takeImage(rgb, depth, fx, fy, cx, cy);

   if(!rgb.empty())
   {
      // process data...
   }
}

The rtabmap/tools/CameraRGBD/main.cpp (version 0.8) show a simple example of usage.

cheers