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Fixed segmentObstaclesFromGround() build error

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This commit is contained in:
matlabbe
2016-02-17 16:01:14 -05:00
parent c6a46a7238
commit 0a913a9cd4
5 changed files with 18 additions and 4 deletions
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8
corelib/src/util3d_motion_estimation.cpp
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@@ -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)

3
corelib/src/util3d_surface.cpp
View File

@@ -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);