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Fixed building with RealSense2 on Windows

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This commit is contained in:
matlabbe
2018-07-10 13:09:52 -04:00
parent ee00f81b5b
commit 35bc2d06a6
6 changed files with 134 additions and 48 deletions
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33
corelib/include/rtabmap/core/CameraRGBD.h
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@@ -48,10 +48,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#endif
#endif
#ifdef RTABMAP_REALSENSE2
#include <librealsense2/rs.hpp>
#endif
#include <boost/signals2/connection.hpp>
namespace openni
@@ -83,6 +79,15 @@ namespace rs
}
}
namespace rs2
{
class context;
class device;
class syncer;
}
struct rs2_intrinsics;
struct rs2_extrinsics;
typedef struct _freenect_context freenect_context;
typedef struct _freenect_device freenect_device;
@@ -450,22 +455,14 @@ protected:
private:
#ifdef RTABMAP_REALSENSE2
void alignFrame(const rs2_intrinsics& from_intrin,
const rs2_intrinsics& other_intrin,
rs2::frame from_image,
uint32_t output_image_bytes_per_pixel,
const rs2_extrinsics& from_to_other,
cv::Mat & registeredDepth);
rs2::context ctx_;
rs2::device dev_;
rs2::context * ctx_;
rs2::device * dev_;
std::string deviceId_;
rs2::syncer syncer_;
rs2::syncer * syncer_;
float depth_scale_meters_;
rs2_intrinsics depthIntrinsics_;
rs2_intrinsics rgbIntrinsics_;
rs2_extrinsics depthToRGBExtrinsics_;
rs2_intrinsics * depthIntrinsics_;
rs2_intrinsics * rgbIntrinsics_;
rs2_extrinsics * depthToRGBExtrinsics_;
cv::Mat depthBuffer_;
cv::Mat rgbBuffer_;
CameraModel model_;