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updating files to build ros package with rtab-map lib v0.20.3

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This commit is contained in:
mirellameelo
2020-10-04 21:02:53 -03:00
parent d771ff566f
commit dea88211de
2 changed files with 9 additions and 7 deletions
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src/CoreWrapper.cpp
+6 -6
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@@ -1883,10 +1883,10 @@ void CoreWrapper::process(
if(maxMappingNodes_ > 0 && filteredPoses.size()>1)
{
std::map<int, Transform> nearestPoses;
std::vector<int> nodes = graph::findNearestNodes(filteredPoses, mapToOdom_*odom, maxMappingNodes_);
for(std::vector<int>::iterator iter=nodes.begin(); iter!=nodes.end(); ++iter)
std::map<int, float> nodes = graph::findNearestNodes(filteredPoses, mapToOdom_*odom, maxMappingNodes_);
for(std::map<int, float>::iterator iter=nodes.begin(); iter!=nodes.end(); ++iter)
{
std::map<int, Transform>::iterator pter = filteredPoses.find(*iter);
std::map<int, Transform>::iterator pter = filteredPoses.find(iter->first);
if(pter != filteredPoses.end())
{
nearestPoses.insert(*pter);
@@ -2770,10 +2770,10 @@ void CoreWrapper::publishMapCallback(
if(maxMappingNodes_ > 0 && filteredPoses.size()>1)
{
std::map<int, Transform> nearestPoses;
std::vector<int> nodes = graph::findNearestNodes(filteredPoses, filteredPoses.rbegin()->second, maxMappingNodes_);
for(std::vector<int>::iterator iter=nodes.begin(); iter!=nodes.end(); ++iter)
std::map<int, float> nodes = graph::findNearestNodes(filteredPoses, filteredPoses.rbegin()->second, maxMappingNodes_);
for(std::map<int, float>::iterator iter=nodes.begin(); iter!=nodes.end(); ++iter)
{
std::map<int, Transform>::iterator pter = filteredPoses.find(*iter);
std::map<int, Transform>::iterator pter = filteredPoses.find(iter->first);
if(pter != filteredPoses.end())
{
nearestPoses.insert(*pter);