merge 3d

Author: zihaomu

modules/rgbd/CMakeLists.txt

@@ -1,3 +1,7 @@
 set(the_description "RGBD algorithms")
 
+<<<<<<< HEAD
 ocv_define_module(rgbd opencv_core opencv_3d opencv_imgproc opencv_dnn OPTIONAL opencv_features2d opencv_viz WRAP python)
+=======
+ocv_define_module(rgbd opencv_core opencv_3d opencv_imgproc OPTIONAL opencv_viz WRAP python)
+>>>>>>> next

modules/rgbd/src/large_kinfu.cpp

@@ -244,6 +244,7 @@ bool LargeKinfuImpl<MatType>::updateT(const MatType& depth, const Mat& img)
     else
         depth = _depth;
 
+<<<<<<< HEAD
     Mat grayImg;
     if(!_img.empty())
     {
@@ -253,6 +254,8 @@ bool LargeKinfuImpl<MatType>::updateT(const MatType& depth, const Mat& img)
             grayImg = _img;
     }
 
+=======
+>>>>>>> next
     cv::Ptr<OdometryFrame> newFrame = icp->makeOdometryFrame(noArray(), depth, noArray());
 
     icp->prepareFrameCache(newFrame, OdometryFrame::CACHE_SRC);
@@ -309,6 +312,7 @@ bool LargeKinfuImpl<MatType>::updateT(const MatType& depth, const Mat& img)
     }
     //4. Update map
     bool isMapUpdated = submapMgr->updateMap(frameCounter, newFrame);
+<<<<<<< HEAD
 
     //5. Loop Closure Detection
     // Before Optimize the PoseGraph, run loop closure first.
@@ -333,6 +337,8 @@ bool LargeKinfuImpl<MatType>::updateT(const MatType& depth, const Mat& img)
             }
         }
     }
+=======
+>>>>>>> next
 
     if(isMapUpdated)
     {