i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-03 16:27:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed build with PCL < 1.7.2, fixed some warnings

Browse Source
This commit is contained in:
matlabbe
2015-08-25 11:10:49 -04:00
parent cd77489704
commit b4efdec9fc
3 changed files with 11 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/util3d_surface.cpp
+1 -1
View File
@@ -171,7 +171,7 @@ pcl::TextureMesh::Ptr createTextureMesh(
// Create materials for each texture (and one extra for occluded faces) // Create materials for each texture (and one extra for occluded faces)
textureMesh->tex_materials.resize (cameras.size () + 1); textureMesh->tex_materials.resize (cameras.size () + 1);
for(int i = 0 ; i <= cameras.size() ; ++i) for(unsigned int i = 0 ; i <= cameras.size() ; ++i)
{ {
pcl::TexMaterial mesh_material; pcl::TexMaterial mesh_material;
mesh_material.tex_Ka.r = 0.2f; mesh_material.tex_Ka.r = 0.2f;
guilib/src/CloudViewer.cpp
+3
View File
@@ -597,6 +597,7 @@ bool CloudViewer::addCloudTextureMesh(
const pcl::TextureMesh::Ptr & textureMesh, const pcl::TextureMesh::Ptr & textureMesh,
const Transform & pose) const Transform & pose)
{ {
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
if(!_addedClouds.contains(id)) if(!_addedClouds.contains(id))
{ {
UDEBUG("Adding %s", id.c_str()); UDEBUG("Adding %s", id.c_str());
@@ -607,6 +608,8 @@ bool CloudViewer::addCloudTextureMesh(
return true; return true;
} }
} }
#endif
// not implemented on lower version of PCL
return false; return false;
} }
guilib/src/MainWindow.cpp
+7 -7
View File
@@ -4782,11 +4782,11 @@ bool MainWindow::getExportedClouds(
std::map<int, Transform> cameraPoses; std::map<int, Transform> cameraPoses;
std::map<int, CameraModel> cameraModels; std::map<int, CameraModel> cameraModels;
std::map<int, cv::Mat> images; std::map<int, cv::Mat> images;
for(std::map<int, Transform>::iterator iter=cameras.begin(); iter!=cameras.end(); ++iter) for(std::map<int, Transform>::iterator jter=cameras.begin(); jter!=cameras.end(); ++jter)
{ {
if(_cachedSignatures.contains(iter->first)) if(_cachedSignatures.contains(jter->first))
{ {
const Signature & s = _cachedSignatures.value(iter->first); const Signature & s = _cachedSignatures.value(jter->first);
CameraModel model; CameraModel model;
if(s.sensorData().stereoCameraModel().isValid()) if(s.sensorData().stereoCameraModel().isValid())
{ {
@@ -4801,11 +4801,11 @@ bool MainWindow::getExportedClouds(
{ {
s.sensorData().uncompressDataConst(&image, 0, 0, 0); s.sensorData().uncompressDataConst(&image, 0, 0, 0);
} }
if(!iter->second.isNull() && model.isValid() && !image.empty()) if(!jter->second.isNull() && model.isValid() && !image.empty())
{ {
cameraPoses.insert(std::make_pair(iter->first, iter->second)); cameraPoses.insert(std::make_pair(jter->first, jter->second));
cameraModels.insert(std::make_pair(iter->first, model)); cameraModels.insert(std::make_pair(jter->first, model));
images.insert(std::make_pair(iter->first, image)); images.insert(std::make_pair(jter->first, image));
} }
} }
} }