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Fixed build with options RTABMAP_SYNC_MULTI_RGBD and RTABMAP_SYNC_USER_DATA

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matlabbe
2022-10-01 18:20:13 -07:00
parent 99b9891ab8
commit e207d4fd70
4 changed files with 12 additions and 12 deletions
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src/impl/CommonDataSubscriberRGBD5.cpp
+2 -2
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@@ -117,7 +117,7 @@ void CommonDataSubscriber::rgbd5Scan2dCallback(
rtabmap_ros::msg::UserData::ConstSharedPtr userDataMsg; // Null
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
rtabmap_ros::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd5Scan3dCallback(
const rtabmap_ros::msg::RGBDImage::ConstSharedPtr image1Msg,
@@ -202,7 +202,7 @@ void CommonDataSubscriber::rgbd5OdomScan2dCallback(
rtabmap_ros::msg::UserData::ConstSharedPtr userDataMsg; // Null
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
rtabmap_ros::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
}
void CommonDataSubscriber::rgbd5OdomScan3dCallback(
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,