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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/nodelets/point_cloud_xyz.cpp
+5 -9
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@@ -29,6 +29,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pluginlib/class_list_macros.h>
#include <nodelet/nodelet.h>
#include <rtabmap_ros/MsgConversion.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
@@ -238,18 +240,12 @@ private:
if(cloudPub_.getNumSubscribers())
{
image_geometry::PinholeCameraModel model;
model.fromCameraInfo(*cameraInfo);
float cx = model.cx();
float cy = model.cy();
pcl::PointCloud<pcl::PointXYZ>::Ptr pclCloud;
rtabmap::CameraModel leftModel = rtabmap_ros::cameraModelFromROS(*cameraInfo);
rtabmap::StereoCameraModel stereoModel(disparityMsg->f, disparityMsg->f, leftModel.cx(), leftModel.cy(), disparityMsg->T);
pclCloud = rtabmap::util3d::cloudFromDisparity(
disparity,
cx,
cy,
disparityMsg->f,
disparityMsg->T,
stereoModel,
decimation_);
processAndPublish(pclCloud, disparityMsg->header);
src/nodelets/point_cloud_xyzrgb.cpp
+3 -12
View File
@@ -33,6 +33,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
#include <rtabmap_ros/MsgConversion.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
@@ -228,22 +230,11 @@ private:
}
ptrRightImage = cv_bridge::toCvShare(imageRight, "mono8");
image_geometry::StereoCameraModel model;
model.fromCameraInfo(*camInfoLeft, *camInfoRight);
float fx = model.left().fx();
float cx = model.left().cx();
float cy = model.left().cy();
float baseline = model.baseline();
pcl::PointCloud<pcl::PointXYZRGB>::Ptr pclCloud;
pclCloud = rtabmap::util3d::cloudFromStereoImages(
ptrLeftImage->image,
ptrRightImage->image,
cx,
cy,
fx,
baseline,
rtabmap_ros::stereoCameraModelFromROS(*camInfoLeft, *camInfoRight),
decimation_);
processAndPublish(pclCloud, imageLeft->header);