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ros2: fixed build with rtabmap 0.20.0

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matlabbe
2020-06-05 14:08:50 -04:00
parent 377a35a2bd
commit 62650c2f4e
3 changed files with 5 additions and 5 deletions
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src/MapsManager.cpp
+3 -3
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@@ -270,7 +270,7 @@ void MapsManager::set2DMap(
if(!uContains(gridMaps_, iter->first))
{
rtabmap::SensorData data;
data = memory->getSignatureDataConst(iter->first, false, false, false, true);
data = memory->getNodeData(iter->first, false, false, false, true);
if(data.gridCellSize() == 0.0f)
{
UWARN("Local occupancy grid doesn't exist for node %d", iter->first);
@@ -471,7 +471,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
}
else if(memory)
{
data = memory->getSignatureDataConst(iter->first, occupancyGrid_->isGridFromDepth() && !occupancySavedInDB, !occupancyGrid_->isGridFromDepth() && !occupancySavedInDB, false, true);
data = memory->getNodeData(iter->first, occupancyGrid_->isGridFromDepth() && !occupancySavedInDB, !occupancyGrid_->isGridFromDepth() && !occupancySavedInDB, false, true);
}
UDEBUG("Adding grid map %d to cache...", iter->first);
@@ -500,7 +500,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
{
// if we are here, it is because we loaded a database with old nodes not having occupancy grid set
// try reload again
data = memory->getSignatureDataConst(iter->first, occupancyGrid_->isGridFromDepth(), !occupancyGrid_->isGridFromDepth(), false, false);
data = memory->getNodeData(iter->first, occupancyGrid_->isGridFromDepth(), !occupancyGrid_->isGridFromDepth(), false, false);
}
data.uncompressData(
occupancyGrid_->isGridFromDepth() && generateGrid?&rgb:0,