i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-07 02:27:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixing various issues detected by rtabmap_slam tests (#1773)

Browse Source 
* Fixing getNodeData missing compressed grids

* Fixing roundtrip laserScan <-> Pointcloud2 on all formats.

* Keep already compressed user_data and laser_scan if possible

* fixed double compression of user_data

* reorder headers

* removed dead function declaration

* expand test coverage
This commit is contained in:
matlabbe
2026-09-26 21:07:59 -07:00
committed by GitHub
parent 16fb2f0541
commit 66c72be7db
12 changed files with 396 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/DBDriver.cpp
+4 -1
View File
@@ -707,7 +707,10 @@ void DBDriver::getNodeData(
((!images || !s->sensorData().imageCompressed().empty()) &&
(!scan || !s->sensorData().laserScanCompressed().isEmpty()) &&
(!userData || !s->sensorData().userDataCompressed().empty()) &&
(!occupancyGrid || s->sensorData().gridCellSize() != 0.0f))))
(!occupancyGrid ||
!s->sensorData().gridGroundCellsCompressed().empty() ||
!s->sensorData().gridObstacleCellsCompressed().empty() ||
!s->sensorData().gridEmptyCellsCompressed().empty()))))
{
data = (SensorData)s->sensorData();
if(!images)