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fixed build bor rtabmap 0.10.1

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matlabbe
2015-06-28 20:40:57 -04:00
parent b98f34db7b
commit 45f3e02f0b
6 changed files with 21 additions and 11 deletions
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src/MsgConversion.cpp
+9 -4
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@@ -452,20 +452,25 @@ rtabmap::Signature nodeDataFromROS(const rtabmap_ros::NodeData & msg)
msg.stamp,
msg.label,
transformFromPoseMsg(msg.pose),
msg.userData.data,
stereoModel.isValid()?
rtabmap::SensorData(
compressedMatFromBytes(msg.laserScan),
msg.laserScanMaxPts,
compressedMatFromBytes(msg.image),
compressedMatFromBytes(msg.depth),
stereoModel):
stereoModel,
msg.id,
msg.stamp,
compressedMatFromBytes(msg.userData)):
rtabmap::SensorData(
compressedMatFromBytes(msg.laserScan),
msg.laserScanMaxPts,
compressedMatFromBytes(msg.image),
compressedMatFromBytes(msg.depth),
models));
models,
msg.id,
msg.stamp,
compressedMatFromBytes(msg.userData)));
s.setWords(words);
s.setWords3(words3D);
return s;
@@ -478,11 +483,11 @@ void nodeDataToROS(const rtabmap::Signature & signature, rtabmap_ros::NodeData &
msg.weight = signature.getWeight();
msg.stamp = signature.getStamp();
msg.label = signature.getLabel();
msg.userData.data = signature.getUserData();
transformToPoseMsg(signature.getPose(), msg.pose);
compressedMatToBytes(signature.sensorData().imageCompressed(), msg.image);
compressedMatToBytes(signature.sensorData().depthOrRightCompressed(), msg.depth);
compressedMatToBytes(signature.sensorData().laserScanCompressed(), msg.laserScan);
compressedMatToBytes(signature.sensorData().userDataCompressed(), msg.userData);
msg.baseline = 0;
if(signature.sensorData().cameraModels().size())
{