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Fixed freenect camera to handle K4W (libfreenect must be built from https://github.com/renewagner/libfreenect, k4w-wip branch).

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1678 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-09-12 20:27:02 +00:00
parent c8593df7eb
commit 02850ec756
1 changed files with 2 additions and 3 deletions
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corelib/src/CameraRGBD.cpp
+2 -3
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@@ -736,9 +736,8 @@ CameraFreenect::CameraFreenect(int deviceId, float imageRate, const Transform &
{ {
#ifdef WITH_FREENECT #ifdef WITH_FREENECT
if(freenect_init(&ctx_, NULL) < 0) UERROR("Cannot initialize freenect library"); if(freenect_init(&ctx_, NULL) < 0) UERROR("Cannot initialize freenect library");
// We claim both the motor and camera devices, since this class exposes both. // claim camera
// It does not support audio, so we do not claim it. freenect_select_subdevices(ctx_, static_cast<freenect_device_flags>(FREENECT_DEVICE_CAMERA));
freenect_select_subdevices(ctx_, static_cast<freenect_device_flags>(FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA));
#endif #endif
} }