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Fixed android build with latest laserScanFromPointCloud changes

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matlabbe
2021-02-19 14:25:34 +00:00
parent 9bf12742b1
commit e59aad03ed
1 changed files with 3 additions and 3 deletions
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app/android/jni/RTABMapApp.cpp
+3 -3
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@@ -2901,7 +2901,7 @@ bool RTABMapApp::exportMesh(
// save in database // save in database
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>); pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
pcl::fromPCLPointCloud2(polygonMesh->cloud, *cloud); pcl::fromPCLPointCloud2(polygonMesh->cloud, *cloud);
cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*cloud, rtabmap::Transform(), false)); // for database cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*cloud, rtabmap::Transform(), false).data()); // for database
std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > polygons(1); std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > polygons(1);
polygons[0].resize(polygonMesh->polygons.size()); polygons[0].resize(polygonMesh->polygons.size());
for(unsigned int p=0; p<polygonMesh->polygons.size(); ++p) for(unsigned int p=0; p<polygonMesh->polygons.size(); ++p)
@@ -2918,7 +2918,7 @@ bool RTABMapApp::exportMesh(
{ {
pcl::PointCloud<pcl::PointNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointNormal>); pcl::PointCloud<pcl::PointNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointNormal>);
pcl::fromPCLPointCloud2(textureMesh->cloud, *cloud); pcl::fromPCLPointCloud2(textureMesh->cloud, *cloud);
cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*cloud, rtabmap::Transform(), false)); // for database cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*cloud, rtabmap::Transform(), false).data()); // for database
// save in database // save in database
std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > polygons(textureMesh->tex_polygons.size()); std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > polygons(textureMesh->tex_polygons.size());
@@ -3054,7 +3054,7 @@ bool RTABMapApp::exportMesh(
// save in database // save in database
{ {
cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*mergedClouds)); // for database cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*mergedClouds).data()); // for database
boost::mutex::scoped_lock lock(rtabmapMutex_); boost::mutex::scoped_lock lock(rtabmapMutex_);
rtabmap_->getMemory()->saveOptimizedMesh(cloudMat); rtabmap_->getMemory()->saveOptimizedMesh(cloudMat);
success = true; success = true;