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Updated for rtabmap library changes https://github.com/introlab/rtabmap/commit/7d35906398ba07c17c905d9bd263e0aa5eb5d2d8

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matlabbe
2015-11-27 11:10:53 -05:00
parent 27d40dee2b
commit b8307449bd
2 changed files with 11 additions and 10 deletions
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src/CoreWrapper.cpp
+2 -2
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@@ -383,7 +383,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
setupCallbacks(subscribeDepth, subscribeScan2d, subscribeScan3d, subscribeStereo, queueSize, stereoApproxSync, depthCameras);
int optimizeIterations = 0;
Parameters::parse(parameters_, Parameters::kRGBDOptimizeIterations(), optimizeIterations);
Parameters::parse(parameters_, Parameters::kOptimizerIterations(), optimizeIterations);
if(publishTf && optimizeIterations != 0)
{
transformThread_ = new boost::thread(boost::bind(&CoreWrapper::publishLoop, this, tfDelay));
@@ -391,7 +391,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
else if(publishTf)
{
UWARN("Graph optimization is disabled (%s=0), the tf between frame \"%s\" and odometry frame will not be published. You can safely ignore this warning if you are using map_optimizer node.",
Parameters::kRGBDOptimizeIterations().c_str(), mapFrameId_.c_str());
Parameters::kOptimizerIterations().c_str(), mapFrameId_.c_str());
}
}