From ad38632fc182144a76135c68fd717f5a8cdc1350 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Wed, 20 Sep 2017 15:03:10 +0000 Subject: [PATCH] Fixed Tango build errors --- app/android/jni/CameraTango.cpp | 2 +- app/android/jni/RTABMapApp.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/app/android/jni/CameraTango.cpp b/app/android/jni/CameraTango.cpp index 75c76833..523d976a 100644 --- a/app/android/jni/CameraTango.cpp +++ b/app/android/jni/CameraTango.cpp @@ -879,7 +879,7 @@ void CameraTango::mainLoop() info.interval = data.stamp()-previousStamp_; info.transform = previousPose_.inverse() * pose; } - info.covariance = cv::Mat::eye(6,6,CV_64FC1) * (firstFrame?9999.0:0.000001); + info.reg.covariance = cv::Mat::eye(6,6,CV_64FC1) * (firstFrame?9999.0:0.000001); LOGI("Publish odometry message (variance=%f)", firstFrame?9999:0.000001); this->post(new OdometryEvent(data, pose, info)); previousPose_ = pose; diff --git a/app/android/jni/RTABMapApp.cpp b/app/android/jni/RTABMapApp.cpp index 1de180bc..6c2a9656 100644 --- a/app/android/jni/RTABMapApp.cpp +++ b/app/android/jni/RTABMapApp.cpp @@ -2193,7 +2193,7 @@ bool RTABMapApp::exportMesh( } Eigen::Vector3f viewpoint( iter->second.x(), iter->second.y(), iter->second.z()); - pcl::PointCloud::Ptr normals = rtabmap::util3d::computeNormals(transformedCloud, normalK, viewpoint); + pcl::PointCloud::Ptr normals = rtabmap::util3d::computeNormals(transformedCloud, normalK, 0.0f, viewpoint); pcl::PointCloud::Ptr cloudWithNormals(new pcl::PointCloud); pcl::concatenateFields(*transformedCloud, *normals, *cloudWithNormals);