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updated for rtabmap 0.9.0

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This commit is contained in:
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/nodelets/data_throttle.cpp
+3 -3
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@@ -41,7 +41,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <cv_bridge/cv_bridge.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/util2d.h>
namespace rtabmap_ros
{
@@ -148,7 +148,7 @@ private:
cv_bridge::CvImage out;
out.header = imagePtr->header;
out.encoding = imagePtr->encoding;
out.image = rtabmap::util3d::decimate(imagePtr->image, decimation_);
out.image = rtabmap::util2d::decimate(imagePtr->image, decimation_);
imagePub_.publish(out.toImageMsg());
}
else
@@ -164,7 +164,7 @@ private:
cv_bridge::CvImage out;
out.header = imagePtr->header;
out.encoding = imagePtr->encoding;
out.image = rtabmap::util3d::decimate(imagePtr->image, decimation_);
out.image = rtabmap::util2d::decimate(imagePtr->image, decimation_);
imageDepthPub_.publish(out.toImageMsg());
}
else