Opencv cpp api - #555
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Signed-off-by: Rich Mattes <richmattes@gmail.com>
fnusb_open_subdevices checked for camera==NULL or res < 0 before jumping to the failure case. If camera was NULL but res was not 0, the function would return 0 indicating success. This occurs when a kinect is not plugged into the PC. Forcing res to be negative when the camera == NULL case allows the failure to open a device to propagate through an application. alloc_kinect in freenect_sync has a check for if freenect_open_device fails, but the logic is incorrect. freenect_open_device returns 0 on success and < 0 on error, so adding a check to see if the return is < 0 corrects detection of the failure case. Signed-off-by: Rich Mattes <richmattes@gmail.com>
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This PR includes fixes to use the OpenCV api in C++ mode, and fixes to some error handling issues I found when trying to run "freenect-cvdemo" without a kinect plugged into the PC (the application would segfault instead of notifying the user that it could not open a camera.) It should fix #553.