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rtabmap.launch: added use_odom_features option (default false). rtabmap: fixed 3d points not transformed correctly in base frame if provided rgbd_image topic is stereo

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matlabbe
2020-12-23 15:55:18 -05:00
parent 43dbd8ad13
commit 7bae01ff39
2 changed files with 13 additions and 8 deletions
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src/CoreWrapper.cpp
+1 -1
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@@ -1566,7 +1566,7 @@ void CoreWrapper::commonStereoCallback(
if(!localPoints3dMsg.empty())
{
// Points should be in base frame
points = rtabmap_ros::points3fFromROS(localPoints3dMsg, stereoModel.localTransform().inverse());
points = rtabmap_ros::points3fFromROS(localPoints3dMsg, stereoModel.localTransform());
}
if(!keypoints.empty())
{