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Updated for RTAB-Map 0.18 (saving full scan info)

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This commit is contained in:
matlabbe
2018-10-24 06:37:15 +12:00
parent bc53af5bbb
commit 2b8edffc85
5 changed files with 98 additions and 58 deletions
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src/CoreWrapper.cpp
+24 -8
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@@ -1209,10 +1209,18 @@ void CoreWrapper::commonDepthCallbackImpl(
userData_ = cv::Mat();
}
SensorData data(LaserScan::backwardCompatibility(scan,
scan2dMsg.get() != 0?(int)scan2dMsg->ranges.size():(genScan_?genMaxScanPts:scan3dMsg.get() != 0?scanCloudMaxPoints_:0),
scan2dMsg.get() != 0?scan2dMsg->range_max:(genScan_?genScanMaxDepth_:0.0f),
scanLocalTransform),
SensorData data(scan2dMsg.get() !=0?
LaserScan::backwardCompatibility(scan,
scan2dMsg->range_min,
scan2dMsg->range_max,
scan2dMsg->angle_min,
scan2dMsg->angle_max,
scan2dMsg->angle_increment,
scanLocalTransform):
LaserScan::backwardCompatibility(scan,
genScan_?genMaxScanPts:scan3dMsg.get() != 0?scanCloudMaxPoints_:0,
genScan_?genScanMaxDepth_:0.0f,
scanLocalTransform),
rgb,
depth,
cameraModels,
@@ -1468,10 +1476,18 @@ void CoreWrapper::commonStereoCallback(
userData_ = cv::Mat();
}
SensorData data(LaserScan::backwardCompatibility(scan,
scan2dMsg.get() != 0?(int)scan2dMsg->ranges.size():scan3dMsg.get() != 0?scanCloudMaxPoints_:0,
scan2dMsg.get() != 0?scan2dMsg->range_max:0,
scanLocalTransform),
SensorData data(scan2dMsg.get() != 0?
LaserScan::backwardCompatibility(scan,
scan2dMsg->range_min,
scan2dMsg->range_max,
scan2dMsg->angle_min,
scan2dMsg->angle_max,
scan2dMsg->angle_increment,
scanLocalTransform):
LaserScan::backwardCompatibility(scan,
scan3dMsg.get() != 0?scanCloudMaxPoints_:0,
0,
scanLocalTransform),
left,
right,
stereoModel,