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Fixed build against rtabmap 0.23

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matlabbe
2025-09-02 14:28:55 -07:00
parent ca4d33151c
commit e9bed4a6b0
1 changed files with 16 additions and 0 deletions
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rtabmap_util/src/MapsManager.cpp
+16
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@@ -944,11 +944,19 @@ void MapsManager::publishMaps(
if(graphGroundOptimized && !tmpGroundPts.empty())
{
#if RTABMAP_VERSION_MAJOR>0 || (RTABMAP_VERSION_MAJOR==0 && RTABMAP_VERSION_MINOR>=23)
assembledGroundIndex_.buildIndex(FlannIndex::FLANN_INDEX_KDTREE_SINGLE, tmpGroundPts);
#else
assembledGroundIndex_.buildKDTreeSingleIndex(tmpGroundPts, 15);
#endif
}
if(graphObstacleOptimized && !tmpObstaclePts.empty())
{
#if RTABMAP_VERSION_MAJOR>0 || (RTABMAP_VERSION_MAJOR==0 && RTABMAP_VERSION_MINOR>=23)
assembledObstacleIndex_.buildIndex(FlannIndex::FLANN_INDEX_KDTREE_SINGLE, tmpObstaclePts);
#else
assembledObstacleIndex_.buildKDTreeSingleIndex(tmpObstaclePts, 15);
#endif
}
double indexingTime = t.ticks();
ROS_INFO("Graph optimized! Time recreating clouds (%d ground, %d obstacles) = %f s (indexing %fs)", countGrounds, countObstacles, addingPointsTime+indexingTime, indexingTime);
@@ -989,7 +997,11 @@ void MapsManager::publishMaps(
}
if(!assembledGroundIndex_.isBuilt())
{
#if RTABMAP_VERSION_MAJOR>0 || (RTABMAP_VERSION_MAJOR==0 && RTABMAP_VERSION_MINOR>=23)
assembledGroundIndex_.buildIndex(FlannIndex::FLANN_INDEX_KDTREE_SINGLE, pts);
#else
assembledGroundIndex_.buildKDTreeSingleIndex(pts, 15);
#endif
}
else
{
@@ -1036,7 +1048,11 @@ void MapsManager::publishMaps(
}
if(!assembledObstacleIndex_.isBuilt())
{
#if RTABMAP_VERSION_MAJOR>0 || (RTABMAP_VERSION_MAJOR==0 && RTABMAP_VERSION_MINOR>=23)
assembledObstacleIndex_.buildIndex(FlannIndex::FLANN_INDEX_KDTREE_SINGLE, pts);
#else
assembledObstacleIndex_.buildKDTreeSingleIndex(pts, 15);
#endif
}
else
{