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Windows: Fixed stereoRectifyFisheye.h 'cannot convert from cv::Mat to CvMat' compilation error with opencv >=3.4.4. Fixed k4a/k4atypes.h not found on guilib compilation.

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This commit is contained in:
matlabbe
2020-06-30 23:18:31 -04:00
parent 4857d43146
commit 0809946c66
13 changed files with 190 additions and 34 deletions
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10
corelib/include/rtabmap/core/stereo/stereoRectifyFisheye.h
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@@ -1189,8 +1189,8 @@ void stereoRectifyFisheye( cv::InputArray _cameraMatrix1, cv::InputArray _distCo
cv::Mat cameraMatrix1 = _cameraMatrix1.getMat(), cameraMatrix2 = _cameraMatrix2.getMat();
cv::Mat distCoeffs1 = _distCoeffs1.getMat(), distCoeffs2 = _distCoeffs2.getMat();
cv::Mat Rmat = _Rmat.getMat(), Tmat = _Tmat.getMat();
#if CV_MAJOR_VERSION > 3 or (CV_MAJOR_VERSION >= 3 and (CV_MINOR_VERSION>4 or CV_MINOR_VERSION>=4 and CV_SUBMINOR_VERSION>=4))
#if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION >= 3 && (CV_MINOR_VERSION>4 || (CV_MINOR_VERSION>=4 && CV_SUBMINOR_VERSION>=4)))
CvMat c_cameraMatrix1 = cvMat(cameraMatrix1);
CvMat c_cameraMatrix2 = cvMat(cameraMatrix2);
CvMat c_distCoeffs1 = cvMat(distCoeffs1);
@@ -1210,7 +1210,7 @@ void stereoRectifyFisheye( cv::InputArray _cameraMatrix1, cv::InputArray _distCo
_Pmat1.create(3, 4, rtype);
_Pmat2.create(3, 4, rtype);
cv::Mat R1 = _Rmat1.getMat(), R2 = _Rmat2.getMat(), P1 = _Pmat1.getMat(), P2 = _Pmat2.getMat(), Q;
#if CV_MAJOR_VERSION > 3 or (CV_MAJOR_VERSION >= 3 and (CV_MINOR_VERSION>4 or CV_MINOR_VERSION>=4 and CV_SUBMINOR_VERSION>=4))
#if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION >= 3 && (CV_MINOR_VERSION>4 || (CV_MINOR_VERSION>=4 && CV_SUBMINOR_VERSION>=4)))
CvMat c_R1 = cvMat(R1), c_R2 = cvMat(R2), c_P1 = cvMat(P1), c_P2 = cvMat(P2);
#else
CvMat c_R1 = CvMat(R1), c_R2 = CvMat(R2), c_P1 = CvMat(P1), c_P2 = CvMat(P2);
@@ -1220,7 +1220,7 @@ void stereoRectifyFisheye( cv::InputArray _cameraMatrix1, cv::InputArray _distCo
if( _Qmat.needed() )
{
_Qmat.create(4, 4, rtype);
#if CV_MAJOR_VERSION > 3 or (CV_MAJOR_VERSION >= 3 and (CV_MINOR_VERSION>4 or CV_MINOR_VERSION>=4 and CV_SUBMINOR_VERSION>=4))
#if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION >= 3 && (CV_MINOR_VERSION>4 || (CV_MINOR_VERSION>=4 && CV_SUBMINOR_VERSION>=4)))
p_Q = &(c_Q = cvMat(Q = _Qmat.getMat()));
#else
p_Q = &(c_Q = CvMat(Q = _Qmat.getMat()));
@@ -1230,7 +1230,7 @@ void stereoRectifyFisheye( cv::InputArray _cameraMatrix1, cv::InputArray _distCo
CvMat *p_distCoeffs1 = distCoeffs1.empty() ? NULL : &c_distCoeffs1;
CvMat *p_distCoeffs2 = distCoeffs2.empty() ? NULL : &c_distCoeffs2;
cvStereoRectifyFisheye( &c_cameraMatrix1, &c_cameraMatrix2, p_distCoeffs1, p_distCoeffs2,
#if CV_MAJOR_VERSION > 3 or (CV_MAJOR_VERSION >= 3 and (CV_MINOR_VERSION>4 or CV_MINOR_VERSION>=4 and CV_SUBMINOR_VERSION>=4))
#if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION >= 3 && (CV_MINOR_VERSION>4 || (CV_MINOR_VERSION>=4 && CV_SUBMINOR_VERSION>=4)))
cvSize(imageSize), &c_R, &c_T, &c_R1, &c_R2, &c_P1, &c_P2, p_Q, flags, alpha,
cvSize(newImageSize));
#else