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fixed build errors of CameraFreenect2 with the new util3d headers

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matlabbe
2015-05-20 15:42:56 -04:00
parent aba0139d57
commit c47abaaa44
1 changed files with 5 additions and 5 deletions
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10
corelib/src/CameraRGBD.cpp
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@@ -26,7 +26,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "rtabmap/core/CameraRGBD.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util2d.h"
#include <rtabmap/utilite/UEventsManager.h>
#include <rtabmap/utilite/UConversion.h>
@@ -1402,12 +1402,12 @@ void CameraFreenect2::captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, f
bool registered = true;
if(registered)
{
depth = util3d::registerDepth(
depth = util2d::registerDepth(
depth,
stereoModel_.left().P().colRange(0,3).rowRange(0,3), //scaled depth K
stereoModel_.right().P().colRange(0,3).rowRange(0,3), //scaled color K
stereoModel_.transform());
util3d::fillRegisteredDepthHoles(depth, true, false);
util2d::fillRegisteredDepthHoles(depth, true, false);
fx = stereoModel_.right().fx();
fy = stereoModel_.right().fy();
cx = stereoModel_.right().cx();
@@ -1482,8 +1482,8 @@ void CameraFreenect2::captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, f
}
}
}
util3d::fillRegisteredDepthHoles(depth, true, true, type_==kTypeRGBDepthHD);
util3d::fillRegisteredDepthHoles(depth, type_==kTypeRGBDepthSD, type_==kTypeRGBDepthHD);//second pass
util2d::fillRegisteredDepthHoles(depth, true, true, type_==kTypeRGBDepthHD);
util2d::fillRegisteredDepthHoles(depth, type_==kTypeRGBDepthSD, type_==kTypeRGBDepthHD);//second pass
libfreenect2::Freenect2Device::ColorCameraParams params = dev_->getColorCameraParams();
fx = params.fx*(type_==kTypeRGBDepthSD?0.5:1.0f);
fy = params.fy*(type_==kTypeRGBDepthSD?0.5:1.0f);