i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-11 12:09:51 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed build with 0.11.8

Browse Source
This commit is contained in:
matlabbe
2016-06-24 21:51:10 -04:00
parent 43d71ed139
commit ad832298ef
1 changed files with 10 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/DbPlayerNode.cpp
+10 -4
View File
@@ -41,8 +41,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap_ros/SetGoal.h> #include <rtabmap_ros/SetGoal.h>
#include <rtabmap/utilite/ULogger.h> #include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UStl.h> #include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UThread.h>
#include <rtabmap/core/util3d.h> #include <rtabmap/core/util3d.h>
#include <rtabmap/core/DBReader.h> #include <rtabmap/core/DBReader.h>
#include <rtabmap/core/OdometryEvent.h>
#include <cmath> #include <cmath>
bool paused = false; bool paused = false;
@@ -122,7 +124,7 @@ int main(int argc, char** argv)
ROS_INFO("rate = %f", rate); ROS_INFO("rate = %f", rate);
ROS_INFO("publish_tf = %s", publishTf?"true":"false"); ROS_INFO("publish_tf = %s", publishTf?"true":"false");
rtabmap::DBReader reader(databasePath, rate); rtabmap::DBReader reader(databasePath, rate, false, false, false, startId);
if(databasePath.empty()) if(databasePath.empty())
{ {
@@ -130,7 +132,7 @@ int main(int argc, char** argv)
return -1; return -1;
} }
if(!reader.init(startId)) if(!reader.init())
{ {
ROS_ERROR("Cannot open database \"%s\".", databasePath.c_str()); ROS_ERROR("Cannot open database \"%s\".", databasePath.c_str());
return -1; return -1;
@@ -154,7 +156,9 @@ int main(int argc, char** argv)
tf2_ros::TransformBroadcaster tfBroadcaster; tf2_ros::TransformBroadcaster tfBroadcaster;
UTimer timer; UTimer timer;
rtabmap::OdometryEvent odom = reader.getNextData(); rtabmap::CameraInfo info;
rtabmap::SensorData data = reader.takeImage(&info);
rtabmap::OdometryEvent odom(data, info.odomPose, info.odomCovariance);
double acquisitionTime = timer.ticks(); double acquisitionTime = timer.ticks();
while(ros::ok() && odom.data().id()) while(ros::ok() && odom.data().id())
{ {
@@ -479,7 +483,9 @@ int main(int argc, char** argv)
} }
timer.restart(); timer.restart();
odom = reader.getNextData(); info = rtabmap::CameraInfo();
data = reader.takeImage(&info);
odom = rtabmap::OdometryEvent(data, info.odomPose, info.odomCovariance);
acquisitionTime = timer.ticks(); acquisitionTime = timer.ticks();
} }