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fix build errors with opencv2, added Transform::getClosestTransform() function for convenience.

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matlabbe
2019-05-31 16:51:37 -04:00
parent d5d00fbd7d
commit 4c8af6d6e9
7 changed files with 51 additions and 49 deletions
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11
corelib/src/camera/CameraVideo.cpp
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@@ -30,6 +30,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UConversion.h>
#if CV_MAJOR_VERSION > 3
#include <opencv2/videoio/videoio_c.h>
#if CV_MAJOR_VERSION > 4
#include <opencv2/videoio/legacy/constants_c.h>
#endif
#endif
namespace rtabmap
@@ -131,13 +134,13 @@ bool CameraVideo::init(const std::string & calibrationFolder, const std::string
{
if(_model.isValidForProjection())
{
_capture.set(cv::CAP_PROP_FRAME_WIDTH, _model.imageWidth());
_capture.set(cv::CAP_PROP_FRAME_HEIGHT, _model.imageHeight());
_capture.set(CV_CAP_PROP_FRAME_WIDTH, _model.imageWidth());
_capture.set(CV_CAP_PROP_FRAME_HEIGHT, _model.imageHeight());
}
else if(_width > 0 && _height > 0)
{
_capture.set(cv::CAP_PROP_FRAME_WIDTH, _width);
_capture.set(cv::CAP_PROP_FRAME_HEIGHT, _height);
_capture.set(CV_CAP_PROP_FRAME_WIDTH, _width);
_capture.set(CV_CAP_PROP_FRAME_HEIGHT, _height);
}
}
if(_rectifyImages && !_model.isValidForRectification())