Merge pull request #3382 from savuor:volume_interface_etc

Volume interface, etc: compilation fix

Author: asmorkalov

modules/rgbd/src/large_kinfu.cpp

@@ -369,7 +369,7 @@ bool LargeKinfuImpl<MatType>::updateT(const MatType& _depth)
         }
 
         //3. Raycast
-        currTrackingSubmap->raycast(currTrackingSubmap->cameraPose, params.frameSize);
+        currTrackingSubmap->raycast(currTrackingSubmap->cameraPose, params.frameSize, params.intr);
 
         CV_LOG_INFO(NULL, "Submap: " << currTrackingId << " Total allocated blocks: " << currTrackingSubmap->getTotalAllocatedBlocks());
         CV_LOG_INFO(NULL, "Submap: " << currTrackingId << " Visible blocks: " << currTrackingSubmap->getVisibleBlocks(frameCounter));
@@ -421,7 +421,7 @@ void LargeKinfuImpl<MatType>::render(OutputArray image, const Matx44f& _cameraPo
     Affine3f cameraPose(_cameraPose);
     auto currSubmap = submapMgr->getCurrentSubmap();
     MatType points, normals;
-    currSubmap->raycast(cameraPose, params.frameSize, points, normals);
+    currSubmap->raycast(cameraPose, params.frameSize, params.intr, points, normals);
     detail::renderPointsNormals(points, normals, image, params.lightPose);
 }