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ImageView: Fixed feature's depth value when depth image is not the same size as the RGB image

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This commit is contained in:
matlabbe
2016-10-17 13:30:35 -04:00
parent 07ff1a7717
commit 1853cfde9b
3 changed files with 54 additions and 11 deletions
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5
corelib/src/CameraRGBD.cpp
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@@ -1972,6 +1972,7 @@ CameraRealSense::CameraRealSense(int device, int presetRGB, int presetDepth, flo
presetRGB_(presetRGB),
presetDepth_(presetDepth)
{
UDEBUG("");
}
CameraRealSense::~CameraRealSense()
@@ -1986,17 +1987,21 @@ CameraRealSense::~CameraRealSense()
bool CameraRealSense::init(const std::string & calibrationFolder, const std::string & cameraName)
{
UDEBUG("");
#ifdef RTABMAP_REALSENSE
if (ctx_ == 0)
{
ctx_ = new rs::context();
}
UDEBUG("");
if (ctx_->get_device_count() == 0)
{
UERROR("No RealSense device detected!");
return false;
}
UDEBUG("");
dev_ = ctx_->get_device(deviceId_);
if (dev_ == 0)
{