i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-03 16:27:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

merged master->ros2

Browse Source
This commit is contained in:
matlabbe
2023-11-19 17:14:24 -08:00
parent 76e83081a7 67de27b1ee
commit 399fb33310
31 changed files with 1148 additions and 295 deletions
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_util/src/MapAssemblerNode.cpp
+4 -4
View File
@@ -257,11 +257,11 @@ public:
rtabmap_conversions::mapGraphFromROS(msg.graph, poses, constraints, mapOdom);
for(unsigned int i=0; i<msg.nodes.size(); ++i)
{
if(msg.nodes[i].image.size() ||
msg.nodes[i].depth.size() ||
msg.nodes[i].laserScan.size())
if(msg.nodes[i].data.left_compressed.size() ||
msg.nodes[i].data.right_compressed.size() ||
msg.nodes[i].data.laser_scan_compressed.size())
{
Signature data = rtabmap_conversions::nodeDataFromROS(msg.nodes[i]);
Signature data = rtabmap_conversions::nodeFromROS(msg.nodes[i]);
if(localGridsRegenerated_)
{
data.sensorData().setOccupancyGrid(cv::Mat(), cv::Mat(), cv::Mat(), 0, cv::Point3f());
rtabmap_util/src/MapOptimizerNode.cpp
+1 -1
View File
@@ -301,7 +301,7 @@ public:
for(std::list<int>::iterator iter=toAdd.begin(); iter!=toAdd.end(); ++iter)
{
UASSERT(cachedNodeInfos_.find(*iter) != cachedNodeInfos_.end());
rtabmap_conversions::nodeDataToROS(cachedNodeInfos_.at(*iter), outputDataMsg.nodes[oi]);
rtabmap_conversions::nodeToROS(cachedNodeInfos_.at(*iter), outputDataMsg.nodes[oi]);
++oi;
}
}