fix

Author: NamDinhRobotics

CMakeLists.txt

@@ -8,6 +8,8 @@ find_package(Open3D HINTS /home/dinhnambkhn/open3d_install/lib/cmake)
 
 find_package(OpenCV)
 include_directories(${OpenCV_INCLUDE_DIRS})
+message(STATUS "OpenCV_INCLUDE_DIRS: ${OpenCV_INCLUDE_DIRS}")
+message(STATUS "OpenCV_LIBRARIES: ${OpenCV_LIBRARIES}")
 
 if (NOT Open3D_FOUND)
     message(FATAL_ERROR "Open3D not found, please use -DCMAKE_INSTALL_PREFIX=open3d_install_dir")

RGBD_odometry.cpp

@@ -52,9 +52,9 @@ int main() {
     auto option = open3d::pipelines::odometry::OdometryOption();
     auto odom_init = Eigen::Matrix4d::Identity();
     //print option
-    std::cout << "max_depth_: " << option.max_depth_ << std::endl;
-    std::cout << "min_depth_: " << option.min_depth_ << std::endl;
-    std::cout << "max_depth_diff_: " << option.max_depth_diff_ << std::endl;
+    std::cout << "max_depth_: " << option.depth_max_ << std::endl;
+    std::cout << "min_depth_: " << option.depth_min_ << std::endl;
+    std::cout << "max_depth_diff_: " << option.depth_diff_max_ << std::endl;
 
     //begin counting time
     auto start = std::chrono::system_clock::now();

Transformation.cpp

@@ -23,7 +23,7 @@ int main() {
     Eigen::Matrix4d transformation;
     //set identity matrix
     transformation.setIdentity();
-    //rotate around x axis
+    //rotate around x-axis
     transformation(0, 0) = 1;
     transformation(1, 1) = cos(M_PI / 4);
     transformation(1, 2) = -sin(M_PI / 4);

read_image.cpp

@@ -11,7 +11,7 @@
 int main() {
     //read image file
     open3d::geometry::Image image;
-    open3d::io::ReadImage("lena_color.jpg", image);
+    open3d::io::ReadImage("/home/dinhnambkhn/Open3D/examples/test_data/lena_color.jpg", image);
     //check image is empty or not
     if (image.IsEmpty()) {
         std::cout << "Image is empty" << std::endl;
@@ -21,17 +21,6 @@ int main() {
 
     //create a share d pointer of image
     std::shared_ptr<open3d::geometry::Image> image_ptr = std::make_shared<open3d::geometry::Image>(image);
-    //read image file opencv
-    cv::Mat image_cv;
-    image_cv = cv::imread("lena_color.jpg");
-    //convert to gray scale
-    cv::Mat image_gray;
-    cv::cvtColor(image_cv, image_gray, cv::COLOR_BGR2GRAY);
-    //show color image and gray image
-    cv::imshow("color image", image_cv);
-    cv::imshow("gray image", image_gray);
-    cv::waitKey(0);
-
     //draw the image_ptr
     open3d::visualization::DrawGeometries({image_ptr});