i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed compiler warning

Browse Source
This commit is contained in:
matlabbe
2021-10-07 10:19:32 -04:00
parent ab5fd5018b
commit d16e24a1a3
1 changed files with 12 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files

21
guilib/src/ExportBundlerDialog.cpp
View File

@@ -233,19 +233,20 @@ void ExportBundlerDialog::exportBundler(
std::map<int, QColor> colors; std::map<int, QColor> colors;
for(std::map<int, Transform>::const_iterator iter=newPoses.begin(); iter!=newPoses.end(); ++iter) for(std::map<int, Transform>::const_iterator iter=newPoses.begin(); iter!=newPoses.end(); ++iter)
{ {
if(signatures.find(iter->first) != signatures.end()) QMap<int, Signature>::const_iterator ster = signatures.find(iter->first);
if(ster!= signatures.end())
{ {
cv::Mat image = signatures[iter->first].sensorData().imageRaw(); cv::Mat image = ster.value().sensorData().imageRaw();
if(image.empty()) if(image.empty())
{ {
signatures[iter->first].sensorData().uncompressDataConst(&image, 0, 0, 0); ster.value().sensorData().uncompressDataConst(&image, 0, 0, 0);
} }
double maxLinearVel = _ui->doubleSpinBox_linearSpeed->value(); double maxLinearVel = _ui->doubleSpinBox_linearSpeed->value();
double maxAngularVel = _ui->doubleSpinBox_angularSpeed->value(); double maxAngularVel = _ui->doubleSpinBox_angularSpeed->value();
double laplacianThr = _ui->doubleSpinBox_laplacianVariance->value(); double laplacianThr = _ui->doubleSpinBox_laplacianVariance->value();
bool blurryImage = false; bool blurryImage = false;
const std::vector<float> & velocity = signatures[iter->first].getVelocity(); const std::vector<float> & velocity = ster.value().getVelocity();
if(maxLinearVel>0.0 || maxAngularVel>0.0) if(maxLinearVel>0.0 || maxAngularVel>0.0)
{ {
if(velocity.size() == 6) if(velocity.size() == 6)
@@ -437,15 +438,17 @@ void ExportBundlerDialog::exportBundler(
list << p << "\n"; list << p << "\n";
Transform localTransform; Transform localTransform;
if(signatures[iter->first].sensorData().cameraModels().size()) QMap<int, Signature>::const_iterator ster = signatures.find(iter->first);
UASSERT(ster!=signatures.end());
if(ster.value().sensorData().cameraModels().size())
{ {
out << signatures[iter->first].sensorData().cameraModels().at(0).fx() << " 0 0\n"; out << ster.value().sensorData().cameraModels().at(0).fx() << " 0 0\n";
localTransform = signatures[iter->first].sensorData().cameraModels().at(0).localTransform(); localTransform = ster.value().sensorData().cameraModels().at(0).localTransform();
} }
else else
{ {
out << signatures[iter->first].sensorData().stereoCameraModel().left().fx() << " 0 0\n"; out << ster.value().sensorData().stereoCameraModel().left().fx() << " 0 0\n";
localTransform = signatures[iter->first].sensorData().stereoCameraModel().left().localTransform(); localTransform = ster.value().sensorData().stereoCameraModel().left().localTransform();
} }
Transform pose = iter->second; Transform pose = iter->second;