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fixed build for latest rtabmap library

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Mathieu Labbe
2015-04-24 10:35:50 -04:00
parent 48e3ff6dde
commit b2a6bcb6fd
7 changed files with 73 additions and 21 deletions
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src/CoreWrapper.cpp
+11 -4
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@@ -263,6 +263,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
oldParameterNames.push_back("RGBD/ScanMatchingSize");
oldParameterNames.push_back("RGBD/LocalLoopDetectionRadius");
oldParameterNames.push_back("RGBD/ToroIterations");
oldParameterNames.push_back("Mem/RehearsedNodesKept");
for(std::list<std::string>::iterator iter=oldParameterNames.begin(); iter!=oldParameterNames.end(); ++iter)
{
std::string vStr;
@@ -298,6 +299,12 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
Parameters::kRGBDOptimizeIterations().c_str());
parameters_.at(Parameters::kRGBDOptimizeIterations())= vStr;
}
else if(iter->compare("Mem/RehearsedNodesKept") == 0)
{
ROS_WARN("Parameter name changed: Mem/RehearsedNodesKept -> %s. Please update your launch file accordingly.",
Parameters::kMemNotLinkedNodesKept().c_str());
parameters_.at(Parameters::kMemNotLinkedNodesKept())= vStr;
}
}
}
@@ -2040,10 +2047,10 @@ std::map<int, rtabmap::Transform> CoreWrapper::updateMapCaches(
// Stereo detected, we should uncompress left image too
data.uncompressDataConst(&image, 0, 0);
}
float fx = data.getDepthFx();
float fy = data.getDepthFy();
float cx = data.getDepthCx();
float cy = data.getDepthCy();
float fx = data.getFx();
float fy = data.getFy();
float cx = data.getCx();
float cy = data.getCy();
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudRGB;
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudXYZ;