i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-06 01:57:45 +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/Rtabmap.cpp
+5
View File
@@ -5920,6 +5920,11 @@ Signature Rtabmap::getSignatureCopy(int id, bool images, bool scan, bool userDat
s.sensorData().setGlobalDescriptors(globalDescriptors);
}
}
if(!withGlobalDescriptors)
{
// Node data taken from memory comes with its global descriptors.
s.sensorData().clearGlobalDescriptors();
}
if(velocity.size()==6)
{
s.setVelocity(velocity[0], velocity[1], velocity[2], velocity[3], velocity[4], velocity[5]);