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fixed runtime errors for single depth camera and stereo

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This commit is contained in:
Mathieu Labbe
2015-05-30 20:05:35 -04:00
parent c5046df226
commit 9e13642a47
20 changed files with 232 additions and 275 deletions
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14
corelib/src/Signature.cpp
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@@ -39,8 +39,7 @@ namespace rtabmap
Signature::Signature() :
_id(0), // invalid id
_mapId(-1),
_stamp(0.0),
_weight(-1),
_weight(0),
_saved(false),
_modified(true),
_linksModified(true),
@@ -54,11 +53,9 @@ Signature::Signature(
int weight,
double stamp,
const std::string & label,
const std::multimap<int, cv::KeyPoint> & words,
const std::multimap<int, pcl::PointXYZ> & words3, // in base_link frame (localTransform applied)
const Transform & pose,
const std::vector<unsigned char> & userData,
const SensorData & sensorData) :
const SensorData & sensorData):
_id(id),
_mapId(mapId),
_stamp(stamp),
@@ -68,12 +65,15 @@ Signature::Signature(
_saved(false),
_modified(true),
_linksModified(true),
_words(words),
_words3(words3),
_enabled(false),
_pose(pose),
_sensorData(sensorData)
{
if(_sensorData.id() == 0)
{
_sensorData.setId(id);
}
UASSERT(_sensorData.id() == _id);
}
Signature::~Signature()