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 #648 (build error without OctoMap dependency)

Browse Source
This commit is contained in:
matlabbe
2020-11-30 12:33:08 -05:00
parent 96c1c81e22
commit ee44adeb1f
5 changed files with 56 additions and 55 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
guilib/src/CloudViewer.cpp
View File

@@ -35,6 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UMath.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/core/util2d.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/common/transforms.h>
#include <QMenu>
@@ -656,7 +657,7 @@ public:
else if(colormap_ == 2)
{
float r,g,b;
OctoMap::HSVtoRGB(&r, &g, &b, colors[k*3+0]*299.0f/255.0f, 1.0f, 1.0f);
util2d::HSVtoRGB(&r, &g, &b, colors[k*3+0]*299.0f/255.0f, 1.0f, 1.0f);
colors[k*3+0] = r*255.0f;
colors[k*3+1] = g*255.0f;
colors[k*3+2] = b*255.0f;
@@ -1207,7 +1208,7 @@ bool CloudViewer::addOctomap(const OctoMap * octomap, unsigned int treeDepth, bo
// Gradiant color on z axis
float H = (maxZ - pt.z())*299.0f/(maxZ-minZ);
float r,g,b;
OctoMap::HSVtoRGB(&r, &g, &b, H, 1, 1);
util2d::HSVtoRGB(&r, &g, &b, H, 1, 1);
pixel[0] = r*255.0f;
pixel[1] = g*255.0f;
pixel[2] = b*255.0f;