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fixed a warning where no scans are found when calling the service to publish the 3D map

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matlabbe
2015-07-19 20:51:32 -04:00
parent de98828dc3
commit 9822159f4b
3 changed files with 20 additions and 7 deletions
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src/MapsManager.cpp
+11 -1
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@@ -94,6 +94,13 @@ void MapsManager::clear()
laserScanIncrement_ = 0;
}
bool MapsManager::hasSubscribers() const
{
return cloudMapPub_.getNumSubscribers() != 0 ||
projMapPub_.getNumSubscribers() != 0 ||
gridMapPub_.getNumSubscribers() != 0;
}
void MapsManager::setLaserScanParameters(
float maxRange,
float minAngle,
@@ -192,7 +199,10 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
{
// Which data should we decompress?
cv::Mat image, depth, scan;
data.uncompressData(rgbDepthRequired||data.stereoCameraModel().isValid()?&image:0, rgbDepthRequired||depthRequired?&depth:0, scanRequired?&scan:0);
data.uncompressData(
(rgbDepthRequired||data.stereoCameraModel().isValid()) ? &image:0,
(rgbDepthRequired||depthRequired) ? &depth:0,
scanRequired?&scan:0);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudRGB;
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudXYZ;