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Fixed Tango build errors

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matlabbe
2017-09-20 15:03:10 +00:00
parent b737df9c40
commit ad38632fc1
2 changed files with 2 additions and 2 deletions
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2
app/android/jni/CameraTango.cpp
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@@ -879,7 +879,7 @@ void CameraTango::mainLoop()
info.interval = data.stamp()-previousStamp_;
info.transform = previousPose_.inverse() * pose;
}
info.covariance = cv::Mat::eye(6,6,CV_64FC1) * (firstFrame?9999.0:0.000001);
info.reg.covariance = cv::Mat::eye(6,6,CV_64FC1) * (firstFrame?9999.0:0.000001);
LOGI("Publish odometry message (variance=%f)", firstFrame?9999:0.000001);
this->post(new OdometryEvent(data, pose, info));
previousPose_ = pose;

2
app/android/jni/RTABMapApp.cpp
View File

@@ -2193,7 +2193,7 @@ bool RTABMapApp::exportMesh(
}
Eigen::Vector3f viewpoint( iter->second.x(), iter->second.y(), iter->second.z());
pcl::PointCloud<pcl::Normal>::Ptr normals = rtabmap::util3d::computeNormals(transformedCloud, normalK, viewpoint);
pcl::PointCloud<pcl::Normal>::Ptr normals = rtabmap::util3d::computeNormals(transformedCloud, normalK, 0.0f, viewpoint);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
pcl::concatenateFields(*transformedCloud, *normals, *cloudWithNormals);