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Fixed build for upstream 0.16.1

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This commit is contained in:
matlabbe
2018-02-16 20:00:32 -05:00
parent e3b2843d6f
commit 04b9abd1b9
12 changed files with 39 additions and 43 deletions
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src/MapsManager.cpp
+6 -4
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@@ -468,7 +468,8 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
cv::Mat ground, obstacles, emptyCells;
if(iter->first > 0)
{
cv::Mat rgb, depth, scan;
cv::Mat rgb, depth;
LaserScan scan;
bool generateGrid = data.gridCellSize() == 0.0f;
static bool warningShown = false;
if(occupancySavedInDB && generateGrid && !warningShown)
@@ -522,7 +523,8 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
occupancyGrid_->parseParameters(parameters);
}
cv::Mat rgb, depth, scan;
cv::Mat rgb, depth;
LaserScan scan;
bool generateGrid = data.gridCellSize() == 0.0f || (unknownSpaceFilled != negativeScanEmptyRayTracing_ && negativeScanEmptyRayTracing_);
data.uncompressData(
occupancyGrid_->isGridFromDepth() && generateGrid?&rgb:0,
@@ -892,7 +894,7 @@ void MapsManager::publishMaps(
}
if(jter!=gridMaps_.end() && jter->second.first.first.cols)
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformed = util3d::laserScanToPointCloudRGB(jter->second.first.first, iter->second, 0, 255, 0);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformed = util3d::laserScanToPointCloudRGB(LaserScan::backwardCompatibility(jter->second.first.first), iter->second, 0, 255, 0);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr subtractedCloud = transformed;
if(cloudSubtractFiltering_)
{
@@ -939,7 +941,7 @@ void MapsManager::publishMaps(
}
if(jter!=gridMaps_.end() && jter->second.first.second.cols)
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformed = util3d::laserScanToPointCloudRGB(jter->second.first.second, iter->second, 255, 0, 0);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformed = util3d::laserScanToPointCloudRGB(LaserScan::backwardCompatibility(jter->second.first.second), iter->second, 255, 0, 0);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr subtractedCloud = transformed;
if(cloudSubtractFiltering_)
{