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fixed runtime errors for single depth camera and stereo

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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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corelib/src/util3d.cpp
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@@ -569,7 +569,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromSensorData(
{
leftMono = sensorData.imageRaw();
}
return cloudFromDisparity(
cloud = cloudFromDisparity(
util2d::disparityFromStereoImages(leftMono, sensorData.rightRaw()),
sensorData.stereoCameraModel().left().cx(),
sensorData.stereoCameraModel().left().cy(),