From 0a913a9cd41f19266c89d3300ce0b69b7ce04e7a Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Wed, 17 Feb 2016 16:01:14 -0500
Subject: [PATCH] Fixed segmentObstaclesFromGround() build error

---
 corelib/include/rtabmap/core/impl/util3d_mapping.hpp | 2 +-
 corelib/src/util3d_motion_estimation.cpp             | 8 ++++++++
 corelib/src/util3d_surface.cpp                       | 3 ++-
 guilib/src/ExportCloudsDialog.cpp                    | 2 +-
 guilib/src/PreferencesDialog.cpp                     | 7 ++++++-
 5 files changed, 18 insertions(+), 4 deletions(-)

diff --git a/corelib/include/rtabmap/core/impl/util3d_mapping.hpp b/corelib/include/rtabmap/core/impl/util3d_mapping.hpp
index 181b5ae3..53fcce1c 100644
--- a/corelib/include/rtabmap/core/impl/util3d_mapping.hpp
+++ b/corelib/include/rtabmap/core/impl/util3d_mapping.hpp
@@ -106,7 +106,7 @@ void segmentObstaclesFromGround(
 		bool segmentFlatObstacles)
 {
 	pcl::IndicesPtr indices(new std::vector<int>);
-	segmentObstaclesFromGround(
+	segmentObstaclesFromGround<PointT>(
 			cloud,
 			indices,
 			ground,
diff --git a/corelib/src/util3d_motion_estimation.cpp b/corelib/src/util3d_motion_estimation.cpp
index d5e09cd0..c0f1cde4 100644
--- a/corelib/src/util3d_motion_estimation.cpp
+++ b/corelib/src/util3d_motion_estimation.cpp
@@ -35,6 +35,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/util3d_correspondences.h"
 #include "rtabmap/core/util3d.h"
 
+#include "rtabmap/core/OptimizerG2O.h"
+
 namespace rtabmap
 {
 
@@ -128,6 +130,12 @@ Transform estimateMotion3DTo2D(
 						   R.at<double>(1,0), R.at<double>(1,1), R.at<double>(1,2), tvec.at<double>(1),
 						   R.at<double>(2,0), R.at<double>(2,1), R.at<double>(2,2), tvec.at<double>(2));
 
+			UWARN("pnp=%s", pnp.prettyPrint().c_str());
+
+			OptimizerG2O g2o;
+			Transform g2oT = g2o.poseOptimization(pnp, objectPoints, imagePoints, cameraModel);
+			UWARN("g2oT=%s", g2oT.prettyPrint().c_str());
+
 			transform = (cameraModel.localTransform() * pnp).inverse();
 
 			// compute variance (like in PCL computeVariance() method of sac_model.h)
diff --git a/corelib/src/util3d_surface.cpp b/corelib/src/util3d_surface.cpp
index 7b78c22f..f9837659 100644
--- a/corelib/src/util3d_surface.cpp
+++ b/corelib/src/util3d_surface.cpp
@@ -97,6 +97,7 @@ std::vector<pcl::Vertices> organizedFastMesh(
 		bool quad,
 		int trianglePixelSize)
 {
+	UDEBUG("size=%d angle=%f quad=%d triangleSize=%d", (int)cloud->size(), angleTolerance, quad?1:0, trianglePixelSize);
 	UASSERT(cloud->is_dense == false);
 	UASSERT(cloud->width > 1 && cloud->height > 1);
 
@@ -131,7 +132,7 @@ std::vector<pcl::Vertices> organizedFastMesh(
 		bool quad,
 		int trianglePixelSize)
 {
-	UDEBUG("size=%d angle=%f quand=%d triangleSize=%d", (int)cloud->size(), angleTolerance, quad?1:0, trianglePixelSize);
+	UDEBUG("size=%d angle=%f quad=%d triangleSize=%d", (int)cloud->size(), angleTolerance, quad?1:0, trianglePixelSize);
 	UASSERT(cloud->is_dense == false);
 	UASSERT(cloud->width > 1 && cloud->height > 1);
 
diff --git a/guilib/src/ExportCloudsDialog.cpp b/guilib/src/ExportCloudsDialog.cpp
index 1a08fda4..52830d27 100644
--- a/guilib/src/ExportCloudsDialog.cpp
+++ b/guilib/src/ExportCloudsDialog.cpp
@@ -49,7 +49,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <QPushButton>
 #include <QDir>
-#include <QFileinfo>
+#include <QFileInfo>
 #include <QMessageBox>
 #include <QFileDialog>
 #include <QInputDialog>
diff --git a/guilib/src/PreferencesDialog.cpp b/guilib/src/PreferencesDialog.cpp
index 557df3f0..b2ff886d 100644
--- a/guilib/src/PreferencesDialog.cpp
+++ b/guilib/src/PreferencesDialog.cpp
@@ -1136,9 +1136,14 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 		_ui->checkBox_map_erode->setChecked(false);
 		_ui->doubleSpinBox_map_opacity->setValue(0.75);
 
-		_ui->groupBox_organized->setChecked(true);
 		_ui->doubleSpinBox_mesh_angleTolerance->setValue(15.0);
+#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
+		_ui->groupBox_organized->setChecked(true);
 		_ui->checkBox_mesh_quad->setChecked(true);
+#else
+		_ui->groupBox_organized->setChecked(false);
+		_ui->checkBox_mesh_quad->setChecked(false);
+#endif
 		_ui->spinBox_mesh_triangleSize->setValue(2);
 	}
 	else if(groupBox->objectName() == _ui->groupBox_logging1->objectName())