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Fixed build with latest rtabmap 0.11

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This commit is contained in:
matlabbe
2016-01-04 19:04:19 -05:00
parent b8307449bd
commit 451fdd1ec8
8 changed files with 89 additions and 87 deletions
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src/CoreWrapper.cpp
+8 -24
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@@ -54,7 +54,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl_conversions/pcl_conversions.h>
#include <laser_geometry/laser_geometry.h>
#include <image_geometry/stereo_camera_model.h>
#ifdef WITH_OCTOMAP
#include <octomap_msgs/conversions.h>
@@ -817,23 +816,16 @@ void CoreWrapper::commonDepthCallback(
return;
}
image_geometry::PinholeCameraModel model;
model.fromCameraInfo(*cameraInfoMsgs[i]);
cameraModels.push_back(rtabmap::CameraModel(
model.fx(),
model.fy(),
model.cx(),
model.cy(),
localTransform));
cameraModels.push_back(rtabmap_ros::cameraModelFromROS(*cameraInfoMsgs[i], localTransform));
if(scan2dMsg.get() == 0 && genScan_)
{
scanCloud2d += util3d::laserScanFromDepthImage(
subDepth,
model.fx(),
model.fy(),
model.cx(),
model.cy(),
cameraModels.back().fx(),
cameraModels.back().fy(),
cameraModels.back().cx(),
cameraModels.back().cy(),
genScanMaxDepth_,
localTransform);
genMaxScanPts += subDepth.cols;
@@ -1009,17 +1001,9 @@ void CoreWrapper::commonStereoCallback(
}
ptrRightImage = cv_bridge::toCvShare(rightImageMsg, "mono8");
image_geometry::StereoCameraModel model;
model.fromCameraInfo(*leftCamInfoMsg, *rightCamInfoMsg);
rtabmap::StereoCameraModel stereoModel(
model.left().fx(),
model.left().fy(),
model.left().cx(),
model.left().cy(),
model.baseline(),
localTransform);
rtabmap::StereoCameraModel stereoModel = rtabmap_ros::stereoCameraModelFromROS(*leftCamInfoMsg, *rightCamInfoMsg, localTransform);
if(model.baseline() > 10.0)
if(stereoModel.baseline() > 10.0)
{
static bool shown = false;
if(!shown)
@@ -1027,7 +1011,7 @@ void CoreWrapper::commonStereoCallback(
ROS_WARN("Detected baseline (%f m) is quite large! Is your "
"right camera_info P(0,3) correctly set? Note that "
"baseline=-P(0,3)/P(0,0). This warning is printed only once.",
model.baseline());
stereoModel.baseline());
shown = true;
}
}