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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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2
corelib/include/rtabmap/core/impl/util3d_mapping.hpp
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@@ -106,7 +106,7 @@ void segmentObstaclesFromGround(
bool segmentFlatObstacles) bool segmentFlatObstacles)
{ {
pcl::IndicesPtr indices(new std::vector<int>); pcl::IndicesPtr indices(new std::vector<int>);
segmentObstaclesFromGround( segmentObstaclesFromGround<PointT>(
cloud, cloud,
indices, indices,
ground, ground,

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_correspondences.h"
#include "rtabmap/core/util3d.h" #include "rtabmap/core/util3d.h"
#include "rtabmap/core/OptimizerG2O.h"
namespace rtabmap 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>(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)); 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(); transform = (cameraModel.localTransform() * pnp).inverse();
// compute variance (like in PCL computeVariance() method of sac_model.h) // compute variance (like in PCL computeVariance() method of sac_model.h)

3
corelib/src/util3d_surface.cpp
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@@ -97,6 +97,7 @@ std::vector<pcl::Vertices> organizedFastMesh(
bool quad, bool quad,
int trianglePixelSize) 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->is_dense == false);
UASSERT(cloud->width > 1 && cloud->height > 1); UASSERT(cloud->width > 1 && cloud->height > 1);
@@ -131,7 +132,7 @@ std::vector<pcl::Vertices> organizedFastMesh(
bool quad, bool quad,
int trianglePixelSize) 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->is_dense == false);
UASSERT(cloud->width > 1 && cloud->height > 1); UASSERT(cloud->width > 1 && cloud->height > 1);

2
guilib/src/ExportCloudsDialog.cpp
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@@ -49,7 +49,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QPushButton> #include <QPushButton>
#include <QDir> #include <QDir>
#include <QFileinfo> #include <QFileInfo>
#include <QMessageBox> #include <QMessageBox>
#include <QFileDialog> #include <QFileDialog>
#include <QInputDialog> #include <QInputDialog>

7
guilib/src/PreferencesDialog.cpp
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@@ -1136,9 +1136,14 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_map_erode->setChecked(false); _ui->checkBox_map_erode->setChecked(false);
_ui->doubleSpinBox_map_opacity->setValue(0.75); _ui->doubleSpinBox_map_opacity->setValue(0.75);
_ui->groupBox_organized->setChecked(true);
_ui->doubleSpinBox_mesh_angleTolerance->setValue(15.0); _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); _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); _ui->spinBox_mesh_triangleSize->setValue(2);
} }
else if(groupBox->objectName() == _ui->groupBox_logging1->objectName()) else if(groupBox->objectName() == _ui->groupBox_logging1->objectName())