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Windows: added missing RTABMAP_EXP in LaserScan class. Memory: fixed wrong laser scan format set when filtering is enabled.

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This commit is contained in:
matlabbe
2018-02-16 20:56:48 -05:00
parent a947f8c783
commit edbed67afe
2 changed files with 8 additions and 6 deletions
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4
corelib/include/rtabmap/core/LaserScan.h
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@@ -28,11 +28,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#ifndef CORELIB_INCLUDE_RTABMAP_CORE_LASERSCAN_H_ #ifndef CORELIB_INCLUDE_RTABMAP_CORE_LASERSCAN_H_
#define CORELIB_INCLUDE_RTABMAP_CORE_LASERSCAN_H_ #define CORELIB_INCLUDE_RTABMAP_CORE_LASERSCAN_H_
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include <rtabmap/core/Transform.h> #include <rtabmap/core/Transform.h>
namespace rtabmap { namespace rtabmap {
class LaserScan class RTABMAP_EXP LaserScan
{ {
public: public:
enum Format{kUnknown=0, enum Format{kUnknown=0,

10
corelib/src/Memory.cpp
View File

@@ -3934,7 +3934,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
data.groundTruth(), data.groundTruth(),
stereoCameraModel.isValidForProjection()? stereoCameraModel.isValidForProjection()?
SensorData( SensorData(
LaserScan(compressedScan, data.laserScanRaw().maxPoints(), data.laserScanRaw().maxRange(), data.laserScanRaw().format(), data.laserScanRaw().localTransform()), LaserScan(compressedScan, laserScan.maxPoints(), laserScan.maxRange(), laserScan.format(), laserScan.localTransform()),
compressedImage, compressedImage,
compressedDepth, compressedDepth,
stereoCameraModel, stereoCameraModel,
@@ -3942,7 +3942,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
0, 0,
compressedUserData): compressedUserData):
SensorData( SensorData(
LaserScan(compressedScan, data.laserScanRaw().maxPoints(), data.laserScanRaw().maxRange(), data.laserScanRaw().format(), data.laserScanRaw().localTransform()), LaserScan(compressedScan, laserScan.maxPoints(), laserScan.maxRange(), laserScan.format(), laserScan.localTransform()),
compressedImage, compressedImage,
compressedDepth, compressedDepth,
cameraModels, cameraModels,
@@ -3992,7 +3992,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
data.groundTruth(), data.groundTruth(),
stereoCameraModel.isValidForProjection()? stereoCameraModel.isValidForProjection()?
SensorData( SensorData(
LaserScan(compressedScan, data.laserScanRaw().maxPoints(), data.laserScanRaw().maxRange(), data.laserScanRaw().format(), data.laserScanRaw().localTransform()), LaserScan(compressedScan, laserScan.maxPoints(), laserScan.maxRange(), laserScan.format(), laserScan.localTransform()),
cv::Mat(), cv::Mat(),
cv::Mat(), cv::Mat(),
stereoCameraModel, stereoCameraModel,
@@ -4000,7 +4000,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
0, 0,
compressedUserData): compressedUserData):
SensorData( SensorData(
LaserScan(compressedScan, data.laserScanRaw().maxPoints(), data.laserScanRaw().maxRange(), data.laserScanRaw().format(), data.laserScanRaw().localTransform()), LaserScan(compressedScan, laserScan.maxPoints(), laserScan.maxRange(), laserScan.format(), laserScan.localTransform()),
cv::Mat(), cv::Mat(),
cv::Mat(), cv::Mat(),
cameraModels, cameraModels,
@@ -4016,7 +4016,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
// set raw data // set raw data
s->sensorData().setImageRaw(image); s->sensorData().setImageRaw(image);
s->sensorData().setDepthOrRightRaw(depthOrRightImage); s->sensorData().setDepthOrRightRaw(depthOrRightImage);
s->sensorData().setLaserScanRaw(data.laserScanRaw()); s->sensorData().setLaserScanRaw(laserScan);
s->sensorData().setUserDataRaw(data.userDataRaw()); s->sensorData().setUserDataRaw(data.userDataRaw());
s->sensorData().setGroundTruth(data.groundTruth()); s->sensorData().setGroundTruth(data.groundTruth());