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updated for rtabmap 0.9.0

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Mathieu Labbe
2015-05-13 19:55:18 -04:00
parent 433f9fa3ae
commit 2b46da2773
14 changed files with 66 additions and 50 deletions
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src/OdometryROS.cpp
+2 -2
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@@ -37,7 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <cv_bridge/cv_bridge.h>
#include <rtabmap/core/Odometry.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/util3d_transforms.h>
#include <rtabmap/core/Memory.h>
#include <rtabmap/core/Signature.h>
#include "rtabmap_ros/MsgConversion.h"
@@ -396,7 +396,7 @@ void OdometryROS::processData(const SensorData & data, const std_msgs::Header &
if(cloud->size())
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudTransformed;
cloudTransformed = util3d::transformPointCloud<pcl::PointXYZ>(cloud, pose);
cloudTransformed = util3d::transformPointCloud(cloud, pose);
sensor_msgs::PointCloud2 cloudMsg;
pcl::toROSMsg(*cloudTransformed, cloudMsg);
cloudMsg.header.stamp = header.stamp; // use corresponding time stamp to image