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Updated with upstream changes

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matlabbe
2023-12-17 22:46:23 -08:00
parent e2b70a6707
commit 2f365ab7e1
5 changed files with 57 additions and 134 deletions
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rtabmap_slam/src/CoreWrapper.cpp
+2 -1
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@@ -60,6 +60,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/DBDriver.h>
#include <rtabmap/core/Registration.h>
#include <rtabmap/core/Graph.h>
#include <rtabmap/core/LocalGridMaker.h>
#include <rtabmap/core/Optimizer.h>
#ifdef WITH_OCTOMAP_MSGS
@@ -2118,7 +2119,7 @@ void CoreWrapper::process(
rtabmap_.getMemory()->getLastSignatureId() != filteredPoses.rbegin()->first ||
rtabmap_.getMemory()->getLastWorkingSignature() == 0 ||
rtabmap_.getMemory()->getLastWorkingSignature()->sensorData().gridCellSize() == 0 ||
(!mapsManager_.getOccupancyGrid()->isGridFromDepth() && data.laserScanRaw().is2d())) // 2d laser scan would fill empty space for latest data
(!mapsManager_.getLocalMapMaker()->isGridFromDepth() && data.laserScanRaw().is2d())) // 2d laser scan would fill empty space for latest data
{
SensorData tmpData = data;
tmpData.setId(0);