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fixed not uncompressed depth2D when restarting rtabmap with a prebuilt map for icp constraints

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2053 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-20 16:20:21 +00:00
parent faf43cc82c
commit 57dec696cf
4 changed files with 30 additions and 9 deletions
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4
guilib/src/MainWindow.cpp
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@@ -4294,7 +4294,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr MainWindow::getAssembledCloud(
{
const Signature & s = _cachedSignatures.find(iter->first).value();
cv::Mat image, depth;
s.uncompressData(&image, &depth, 0);
s.uncompressDataConst(&image, &depth, 0);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
if(regenerateClouds)
{
@@ -4380,7 +4380,7 @@ std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > MainWindow::getClouds(
{
const Signature & s = _cachedSignatures.find(iter->first).value();
cv::Mat image, depth;
s.uncompressData(&image, &depth, 0);
s.uncompressDataConst(&image, &depth, 0);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
if(regenerateClouds)
{