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0.17.1: Fixed issue #282 and https://github.com/introlab/rtabmap_ros/issues/243

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matlabbe
2018-05-14 20:50:21 +00:00
parent 5cdede1482
commit 9c91fb8cd8
4 changed files with 16 additions and 11 deletions
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CMakeLists.txt
+1 -1
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@@ -21,7 +21,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
####################### #######################
SET(RTABMAP_MAJOR_VERSION 0) SET(RTABMAP_MAJOR_VERSION 0)
SET(RTABMAP_MINOR_VERSION 17) SET(RTABMAP_MINOR_VERSION 17)
SET(RTABMAP_PATCH_VERSION 0) SET(RTABMAP_PATCH_VERSION 1)
SET(RTABMAP_VERSION SET(RTABMAP_VERSION
${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION}) ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
corelib/include/rtabmap/core/CameraRGBD.h
+6 -1
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@@ -39,9 +39,14 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/pcl_config.h> #include <pcl/pcl_config.h>
#ifdef HAVE_OPENNI #ifdef HAVE_OPENNI
#if __linux__ && __i386__ && __cplusplus >= 201103L
#warning "Openni driver is not available on i386 when building with c++11 support"
#else
#define RTABMAP_OPENNI
#include <pcl/io/openni_camera/openni_depth_image.h> #include <pcl/io/openni_camera/openni_depth_image.h>
#include <pcl/io/openni_camera/openni_image.h> #include <pcl/io/openni_camera/openni_image.h>
#endif #endif
#endif
#include <boost/signals2/connection.hpp> #include <boost/signals2/connection.hpp>
@@ -102,7 +107,7 @@ public:
float imageRate = 0, float imageRate = 0,
const Transform & localTransform = Transform::getIdentity()); const Transform & localTransform = Transform::getIdentity());
virtual ~CameraOpenni(); virtual ~CameraOpenni();
#ifdef HAVE_OPENNI #ifdef RTABMAP_OPENNI
void image_cb ( void image_cb (
const boost::shared_ptr<openni_wrapper::Image>& rgb, const boost::shared_ptr<openni_wrapper::Image>& rgb,
const boost::shared_ptr<openni_wrapper::DepthImage>& depth, const boost::shared_ptr<openni_wrapper::DepthImage>& depth,
corelib/src/CameraRGBD.cpp
+8 -8
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@@ -39,7 +39,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UTimer.h> #include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UMath.h> #include <rtabmap/utilite/UMath.h>
#ifdef HAVE_OPENNI #ifdef RTABMAP_OPENNI
#include <pcl/io/openni_grabber.h> #include <pcl/io/openni_grabber.h>
#include <pcl/io/oni_grabber.h> #include <pcl/io/oni_grabber.h>
#include <pcl/io/openni_camera/openni_depth_image.h> #include <pcl/io/openni_camera/openni_depth_image.h>
@@ -97,7 +97,7 @@ CameraOpenni::CameraOpenni(const std::string & deviceId, float imageRate, const
bool CameraOpenni::available() bool CameraOpenni::available()
{ {
#ifdef HAVE_OPENNI #ifdef RTABMAP_OPENNI
return true; return true;
#else #else
return false; return false;
@@ -106,7 +106,7 @@ bool CameraOpenni::available()
CameraOpenni::~CameraOpenni() CameraOpenni::~CameraOpenni()
{ {
#ifdef HAVE_OPENNI #ifdef RTABMAP_OPENNI
UDEBUG(""); UDEBUG("");
if(connection_.connected()) if(connection_.connected())
{ {
@@ -122,7 +122,7 @@ CameraOpenni::~CameraOpenni()
} }
#endif #endif
} }
#ifdef HAVE_OPENNI #ifdef RTABMAP_OPENNI
void CameraOpenni::image_cb ( void CameraOpenni::image_cb (
const boost::shared_ptr<openni_wrapper::Image>& rgb, const boost::shared_ptr<openni_wrapper::Image>& rgb,
const boost::shared_ptr<openni_wrapper::DepthImage>& depth, const boost::shared_ptr<openni_wrapper::DepthImage>& depth,
@@ -150,7 +150,7 @@ void CameraOpenni::image_cb (
bool CameraOpenni::init(const std::string & calibrationFolder, const std::string & cameraName) bool CameraOpenni::init(const std::string & calibrationFolder, const std::string & cameraName)
{ {
#ifdef HAVE_OPENNI #ifdef RTABMAP_OPENNI
if(interface_) if(interface_)
{ {
interface_->stop(); interface_->stop();
@@ -197,7 +197,7 @@ bool CameraOpenni::init(const std::string & calibrationFolder, const std::string
bool CameraOpenni::isCalibrated() const bool CameraOpenni::isCalibrated() const
{ {
#ifdef HAVE_OPENNI #ifdef RTABMAP_OPENNI
return true; return true;
#else #else
return false; return false;
@@ -206,7 +206,7 @@ bool CameraOpenni::isCalibrated() const
std::string CameraOpenni::getSerial() const std::string CameraOpenni::getSerial() const
{ {
#ifdef HAVE_OPENNI #ifdef RTABMAP_OPENNI
if(interface_) if(interface_)
{ {
return interface_->getName(); return interface_->getName();
@@ -218,7 +218,7 @@ std::string CameraOpenni::getSerial() const
SensorData CameraOpenni::captureImage(CameraInfo * info) SensorData CameraOpenni::captureImage(CameraInfo * info)
{ {
SensorData data; SensorData data;
#ifdef HAVE_OPENNI #ifdef RTABMAP_OPENNI
if(interface_ && interface_->isRunning()) if(interface_ && interface_->isRunning())
{ {
if(!dataReady_.acquire(1, 5000)) if(!dataReady_.acquire(1, 5000))
package.xml
+1 -1
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@@ -1,7 +1,7 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<package> <package>
<name>rtabmap</name> <name>rtabmap</name>
<version>0.17.0</version> <version>0.17.1</version>
<description>RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description> <description>RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
<maintainer email="[email protected]">Mathieu Labbe</maintainer> <maintainer email="[email protected]">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author> <author>Mathieu Labbe</author>