i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed compilation error with PCL < 1.7.2 (disabled graph frustums option)

Browse Source
This commit is contained in:
matlabbe
2017-02-09 19:25:35 -05:00
parent 0d0577a886
commit 1be0d52051
2 changed files with 21 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
guilib/src/CloudViewer.cpp
View File

@@ -1247,6 +1247,10 @@ void CloudViewer::addOrUpdateFrustum(
return;
}
#if PCL_VERSION_COMPARE(<, 1, 7, 2)
this->removeFrustum(id);
#endif
if(!transform.isNull())
{
if(_frustums.find(id)==_frustums.end())
@@ -1267,7 +1271,12 @@ void CloudViewer::addOrUpdateFrustum(
c = color;
}
Transform opticalRotInv(0, -1, 0, 0, 0, 0, -1, 0, 1, 0, 0, 0);
#if PCL_VERSION_COMPARE(<, 1, 7, 2)
Eigen::Affine3f t = (transform*localTransform*opticalRotInv).toEigen3f();
#else
Eigen::Affine3f t = (localTransform*opticalRotInv).toEigen3f();
#endif
for(int i=0; i<frustumSize; ++i)
{
frustumPoints[i].x = frustum_vertices[i*3]*scaleX;
@@ -1288,10 +1297,12 @@ void CloudViewer::addOrUpdateFrustum(
_visualizer->addPolylineFromPolygonMesh(mesh, id);
_visualizer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, c.redF(), c.greenF(), c.blueF(), id);
}
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
if(!this->updateFrustumPose(id, transform))
{
UERROR("Failed updating pose of frustum %s!?", id.c_str());
}
#endif
}
else
{
@@ -1303,6 +1314,7 @@ bool CloudViewer::updateFrustumPose(
const std::string & id,
const Transform & pose)
{
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
QMap<std::string, Transform>::iterator iter=_frustums.find(id);
if(iter != _frustums.end() && !pose.isNull())
{
@@ -1335,6 +1347,9 @@ bool CloudViewer::updateFrustumPose(
return true;
}
#else
UERROR("updateFrustumPose() cannot be used with PCL<1.7.2. Use addOrUpdateFrustum() instead.");
#endif
return false;
}