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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/MsgConversion.cpp
+11 -10
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@@ -717,10 +717,10 @@ rtabmap::Signature nodeDataFromROS(const rtabmap_ros::NodeData & msg)
transformFromPoseMsg(msg.groundTruthPose),
stereoModel.isValidForProjection()?
rtabmap::SensorData(
compressedMatFromBytes(msg.laserScan),
rtabmap::LaserScanInfo(
rtabmap::LaserScan(compressedMatFromBytes(msg.laserScan),
msg.laserScanMaxPts,
msg.laserScanMaxRange,
(rtabmap::LaserScan::Format)msg.laserScanFormat,
transformFromGeometryMsg(msg.laserScanLocalTransform)),
compressedMatFromBytes(msg.image),
compressedMatFromBytes(msg.depth),
@@ -729,10 +729,10 @@ rtabmap::Signature nodeDataFromROS(const rtabmap_ros::NodeData & msg)
msg.stamp,
compressedMatFromBytes(msg.userData)):
rtabmap::SensorData(
compressedMatFromBytes(msg.laserScan),
rtabmap::LaserScanInfo(
rtabmap::LaserScan(compressedMatFromBytes(msg.laserScan),
msg.laserScanMaxPts,
msg.laserScanMaxRange,
(rtabmap::LaserScan::Format)msg.laserScanFormat,
transformFromGeometryMsg(msg.laserScanLocalTransform)),
compressedMatFromBytes(msg.image),
compressedMatFromBytes(msg.depth),
@@ -770,16 +770,17 @@ void nodeDataToROS(const rtabmap::Signature & signature, rtabmap_ros::NodeData &
msg.gps.bearing = signature.sensorData().gps().bearing();
compressedMatToBytes(signature.sensorData().imageCompressed(), msg.image);
compressedMatToBytes(signature.sensorData().depthOrRightCompressed(), msg.depth);
compressedMatToBytes(signature.sensorData().laserScanCompressed(), msg.laserScan);
compressedMatToBytes(signature.sensorData().laserScanCompressed().data(), msg.laserScan);
compressedMatToBytes(signature.sensorData().userDataCompressed(), msg.userData);
compressedMatToBytes(signature.sensorData().gridGroundCellsCompressed(), msg.grid_ground);
compressedMatToBytes(signature.sensorData().gridObstacleCellsCompressed(), msg.grid_obstacles);
compressedMatToBytes(signature.sensorData().gridEmptyCellsCompressed(), msg.grid_empty_cells);
point3fToROS(signature.sensorData().gridViewPoint(), msg.grid_view_point);
msg.grid_cell_size = signature.sensorData().gridCellSize();
msg.laserScanMaxPts = signature.sensorData().laserScanInfo().maxPoints();
msg.laserScanMaxRange = signature.sensorData().laserScanInfo().maxRange();
transformToGeometryMsg(signature.sensorData().laserScanInfo().localTransform(), msg.laserScanLocalTransform);
msg.laserScanMaxPts = signature.sensorData().laserScanCompressed().maxPoints();
msg.laserScanMaxRange = signature.sensorData().laserScanCompressed().maxRange();
msg.laserScanFormat = signature.sensorData().laserScanCompressed().format();
transformToGeometryMsg(signature.sensorData().laserScanCompressed().localTransform(), msg.laserScanLocalTransform);
msg.baseline = 0;
if(signature.sensorData().cameraModels().size())
{
@@ -958,7 +959,7 @@ rtabmap::OdometryInfo odomInfoFromROS(const rtabmap_ros::OdomInfo & msg)
info.localMap.insert(std::make_pair(msg.localMapKeys[i], point3fFromROS(msg.localMapValues[i])));
}
info.localScanMap = rtabmap::uncompressData(msg.localScanMap);
info.localScanMap = rtabmap::LaserScan::backwardCompatibility(rtabmap::uncompressData(msg.localScanMap));
return info;
}
@@ -1009,7 +1010,7 @@ void odomInfoToROS(const rtabmap::OdometryInfo & info, rtabmap_ros::OdomInfo & m
msg.localMapKeys = uKeys(info.localMap);
points3fToROS(uValues(info.localMap), msg.localMapValues);
msg.localScanMap = rtabmap::compressData(info.localScanMap);
msg.localScanMap = rtabmap::compressData(info.localScanMap.data());
}
cv::Mat userDataFromROS(const rtabmap_ros::UserData & dataMsg)