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Fixed focal computation when images are registered (freenect), Updated FindOpenNI2.cmake for unix

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1364 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-06-14 16:09:44 +00:00
parent a943083e0b
commit c2f6439567
5 changed files with 48 additions and 8 deletions
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2
corelib/include/rtabmap/core/CameraFreenect.h
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@@ -36,6 +36,7 @@ class RTABMAP_EXP FreenectDevice {
cv::Mat getRgb();
cv::Mat getDepth();
float getDepthFocal() const {return depthFocal_;}
// Do not call directly even in child
void VideoCallback(void *video, uint32_t timestamp);
@@ -59,6 +60,7 @@ class RTABMAP_EXP FreenectDevice {
UMutex rgbMutex_;
bool depthReady_;
bool rgbReady_;
float depthFocal_;
};
class RTABMAP_EXP CameraFreenect : public UEventsSender, public UThread