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Refactoring CameraRGBD class (now including OpenNI, OpenNI2, OpenNI from OpenCV and Freenect)

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Added tool to test RGB-D camera: rtabmap-rgbd_camera
Fixed Freenect corrupted depth image (after some time)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1366 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-15 03:31:35 +00:00
parent 81b3b49f97
commit c18f1501d4
25 changed files with 1248 additions and 1579 deletions
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corelib/src/Features2d.cpp
+2 -2
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@@ -54,7 +54,7 @@ void filterKeypointsByDepth(
float depthConstant,
float maxDepth)
{
if(!depth.empty() && depthConstant > 0.0f && maxDepth > 0.0f && (descriptors.empty() || descriptors.rows == keypoints.size()))
if(!depth.empty() && depthConstant > 0.0f && maxDepth > 0.0f && (descriptors.empty() || descriptors.rows == (int)keypoints.size()))
{
std::vector<cv::KeyPoint> output(keypoints.size());
std::vector<int> indexes(keypoints.size(), 0);
@@ -71,7 +71,7 @@ void filterKeypointsByDepth(
output.resize(oi);
keypoints = output;
if(!descriptors.empty() && keypoints.size() != descriptors.rows)
if(!descriptors.empty() && (int)keypoints.size() != descriptors.rows)
{
if(keypoints.size() == 0)
{