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Fixed build error in rtabmap-reprocess without octomap. Fixed non c++11 build for BayesFilter.

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matlabbe
2018-02-02 13:12:14 -05:00
parent 5d2912baa1
commit 8ca3bca810
3 changed files with 60 additions and 32 deletions
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8
tools/Reprocess/main.cpp
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@@ -229,7 +229,9 @@ int main(int argc, char * argv[])
globalMapStats.clear();
double timeUpdateInit = 0.0;
double timeUpdateGrid = 0.0;
#ifdef RTABMAP_OCTOMAP
double timeUpdateOctoMap = 0.0;
#endif
const rtabmap::Statistics & stats = rtabmap.getStatistics();
UTimer t;
if(stats.poses().size() && stats.getSignatures().size())
@@ -254,7 +256,6 @@ int main(int argc, char * argv[])
{
cv::Mat ground, obstacles;
stats.getSignatures().find(id)->second.sensorData().uncompressDataConst(0, 0, 0, 0, &ground, &obstacles);
const cv::Point3f & viewpoint = stats.getSignatures().find(id)->second.sensorData().gridViewPoint();
timeUpdateInit = t.ticks();
@@ -267,6 +268,7 @@ int main(int argc, char * argv[])
#ifdef RTABMAP_OCTOMAP
if(updateOctoMap)
{
const cv::Point3f & viewpoint = stats.getSignatures().find(id)->second.sensorData().gridViewPoint();
octomap.addToCache(id, ground, obstacles, viewpoint);
octomap.update(stats.poses());
timeUpdateOctoMap = t.ticks() + timeUpdateInit;
@@ -276,6 +278,8 @@ int main(int argc, char * argv[])
}
}
globalMapStats.insert(std::make_pair(std::string("GlobalGrid/GridUpdate/ms"), timeUpdateGrid*1000.0f));
#ifdef RTABMAP_OCTOMAP
//Simulate publishing
double timePub2dOctoMap = 0.0;
double timePub3dOctoMap = 0.0;
@@ -291,10 +295,10 @@ int main(int argc, char * argv[])
timePub3dOctoMap = t.ticks();
}
globalMapStats.insert(std::make_pair(std::string("GlobalGrid/GridUpdate/ms"), timeUpdateGrid*1000.0f));
globalMapStats.insert(std::make_pair(std::string("GlobalGrid/OctoMapUpdate/ms"), timeUpdateOctoMap*1000.0f));
globalMapStats.insert(std::make_pair(std::string("GlobalGrid/OctoMapProjection/ms"), timePub2dOctoMap*1000.0f));
globalMapStats.insert(std::make_pair(std::string("GlobalGrid/OctomapToCloud/ms"), timePub3dOctoMap*1000.0f));
#endif
}
}