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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/CommonDataSubscriberRGBD6.cpp
+3 -3
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@@ -52,7 +52,7 @@ namespace rtabmap_ros {
cameraInfoMsgs.push_back(image4Msg->rgb_camera_info); \
cameraInfoMsgs.push_back(image5Msg->rgb_camera_info); \
cameraInfoMsgs.push_back(image6Msg->rgb_camera_info); \
std::vector<sensor_msgs::CameraInfo> depthCameraInfoMsgs; \
std::vector<sensor_msgs::msg::CameraInfo> depthCameraInfoMsgs; \
depthCameraInfoMsgs.push_back(image1Msg->depth_camera_info); \
depthCameraInfoMsgs.push_back(image2Msg->depth_camera_info); \
depthCameraInfoMsgs.push_back(image3Msg->depth_camera_info); \
@@ -127,7 +127,7 @@ void CommonDataSubscriber::rgbd6Scan2dCallback(
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::rgbd6Scan3dCallback(
const rtabmap_ros::msg::RGBDImage::ConstSharedPtr image1Msg,
@@ -217,7 +217,7 @@ void CommonDataSubscriber::rgbd6OdomScan2dCallback(
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::rgbd6OdomScan3dCallback(
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,