i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-05 17:27:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed build errors against 0.11.2

Browse Source
This commit is contained in:
matlabbe
2016-02-17 16:05:35 -05:00
parent 2250eb1f01
commit b4c0224f06
4 changed files with 10 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/MapsManager.cpp
+5 -5
View File
@@ -224,12 +224,12 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
{
if(!(data.imageCompressed().empty() && data.imageRaw().empty()) &&
!(data.depthOrRightCompressed().empty() && data.depthOrRightRaw().empty()) &&
(data.cameraModels().size() || data.stereoCameraModel().isValid()))
(data.cameraModels().size() || data.stereoCameraModel().isValidForProjection()))
{
// Which data should we decompress?
cv::Mat image, depth, scan;
data.uncompressData(
(rgbDepthRequired||data.stereoCameraModel().isValid()) ? &image:0,
(rgbDepthRequired||data.stereoCameraModel().isValidForProjection()) ? &image:0,
(rgbDepthRequired||depthRequired) ? &depth:0,
scanRequired||gridRequired?&scan:0);
@@ -287,7 +287,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
// Make sure that image size is set in camera models.
// The camera models are used when cloud_frustum_culling=true.
std::vector<rtabmap::CameraModel> models;
if(data.stereoCameraModel().isValid())
if(data.stereoCameraModel().isValidForProjection())
{
//insert only the left camera model
rtabmap::CameraModel model = data.stereoCameraModel().left();
@@ -380,7 +380,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
iter->first,
!(data.imageCompressed().empty() && data.imageRaw().empty())?1:0,
!(data.depthOrRightCompressed().empty() && data.depthOrRightRaw().empty())?1:0,
(data.cameraModels().size() || data.stereoCameraModel().isValid())?1:0);
(data.cameraModels().size() || data.stereoCameraModel().isValidForProjection())?1:0);
}
}
}
@@ -489,7 +489,7 @@ void MapsManager::publishMaps(
{
for(unsigned int i=0; i<kter->second.size(); ++i)
{
if(kter->second[i].isValid())
if(kter->second[i].isValidForProjection())
{
int size = assembledCloud->size();
assembledCloud = util3d::frustumFiltering(