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Fixed OctoMap cmpil error when rtabmap is not built with OctoMap dep (https://github.com/introlab/rtabmap/issues/759#issuecomment-948766713). stereo_odometry: added check for identity stereo transform (same frame used for left and right).

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matlabbe
2021-10-21 15:25:44 -04:00
parent 79369f654c
commit eb297e147f
2 changed files with 18 additions and 1 deletions
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src/MapsManager.cpp
+4
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@@ -69,7 +69,11 @@ MapsManager::MapsManager() :
assembledGround_(new pcl::PointCloud<pcl::PointXYZRGB>),
occupancyGrid_(new OccupancyGrid),
gridUpdated_(true),
#ifdef WITH_OCTOMAP_MSGS
#ifdef RTABMAP_OCTOMAP
octomap_(new OctoMap),
#endif
#endif
octomapTreeDepth_(16),
octomapUpdated_(true),
latching_(true)