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0.11.8 API update

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matlabbe
2016-06-13 12:14:17 -04:00
parent 5c21dfe71d
commit c2aa2a8b8e
2 changed files with 7 additions and 3 deletions
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CMakeLists.txt
+1 -1
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@@ -18,7 +18,7 @@ find_package(rviz)
## System dependencies are found with CMake's conventions ## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system) # find_package(Boost REQUIRED COMPONENTS system)
find_package(RTABMap 0.11.6 REQUIRED) find_package(RTABMap 0.11.8 REQUIRED)
find_package(OpenCV REQUIRED) find_package(OpenCV REQUIRED)
src/CoreWrapper.cpp
+6 -2
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@@ -979,7 +979,9 @@ void CoreWrapper::commonDepthCallback(
if(scanCloudNormalK_ > 0) if(scanCloudNormalK_ > 0)
{ {
//compute normals //compute normals
pcl::PointCloud<pcl::PointNormal>::Ptr pclScanNormal = util3d::computeNormals(pclScan, scanCloudNormalK_); pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(pclScan, scanCloudNormalK_);
pcl::PointCloud<pcl::PointNormal>::Ptr pclScanNormal(new pcl::PointCloud<pcl::PointNormal>);
pcl::concatenateFields(*pclScan, *normals, *pclScanNormal);
scan = util3d::laserScanFromPointCloud(*pclScanNormal); scan = util3d::laserScanFromPointCloud(*pclScanNormal);
} }
else else
@@ -1136,7 +1138,9 @@ void CoreWrapper::commonStereoCallback(
if(scanCloudNormalK_ > 0) if(scanCloudNormalK_ > 0)
{ {
//compute normals //compute normals
pcl::PointCloud<pcl::PointNormal>::Ptr pclScanNormal = util3d::computeNormals(pclScan, scanCloudNormalK_); pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(pclScan, scanCloudNormalK_);
pcl::PointCloud<pcl::PointNormal>::Ptr pclScanNormal(new pcl::PointCloud<pcl::PointNormal>);
pcl::concatenateFields(*pclScan, *normals, *pclScanNormal);
scan = util3d::laserScanFromPointCloud(*pclScanNormal); scan = util3d::laserScanFromPointCloud(*pclScanNormal);
} }
else else