merge 3d

Author: zihaomu

modules/rgbd/CMakeLists.txt

@@ -1,7 +1,3 @@
 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

@@ -244,7 +244,6 @@ bool LargeKinfuImpl<MatType>::updateT(const MatType& depth, const Mat& img)
     else
         depth = _depth;
 
-<<<<<<< HEAD
     Mat grayImg;
     if(!_img.empty())
     {
@@ -254,8 +253,6 @@ 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);
@@ -312,7 +309,6 @@ 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.
@@ -337,8 +333,6 @@ bool LargeKinfuImpl<MatType>::updateT(const MatType& depth, const Mat& img)
             }
         }
     }
-=======
->>>>>>> next
 
     if(isMapUpdated)
     {