fixed compilation with new multicam branch

src/nodelets/icp_odometry.cpp

@@ -478,7 +478,7 @@ private:
 						localScanTransform),
 				cv::Mat(),
 				cv::Mat(),
-				CameraModel(),
+				rtabmap::CameraModel(),
 				0,
 				rtabmap_ros::timestampFromROS(scanMsg->header.stamp));
 
@@ -724,7 +724,7 @@ private:
 				laserScan,
 				cv::Mat(),
 				cv::Mat(),
-				CameraModel(),
+				rtabmap::CameraModel(),
 				0,
 				rtabmap_ros::timestampFromROS(cloudMsg.header.stamp));
 

src/nodelets/rgbd_odometry.cpp

@@ -376,16 +376,6 @@ private:
 		bool subscribeRGBD = false;
 		pnh.param("subscribe_rgbd", subscribeRGBD, subscribeRGBD);
 		pnh.param("rgbd_cameras", rgbdCameras, rgbdCameras);
-		if(subscribeRGBD && rgbdCameras> 1 && estimationType>0)
-		{
-			NODELET_WARN("Setting \"%s\" parameter to 0 (%d is not supported "
-					"for multi-cameras) as \"subscribe_rgbd\" is "
-					"true and \"rgbd_cameras\">1. Set \"%s\" to 0 to suppress this warning.",
-					Parameters::kVisEstimationType().c_str(),
-					estimationType,
-					Parameters::kVisEstimationType().c_str());
-			uInsert(parameters, ParametersPair(Parameters::kVisEstimationType(), "0"));
-		}
 	}
 
 	void commonCallback(
@@ -408,7 +398,7 @@ private:
 		cv::Mat rgb;
 		cv::Mat depth;
 		pcl::PointCloud<pcl::PointXYZ> scanCloud;
-		std::vector<CameraModel> cameraModels;
+		std::vector<rtabmap::CameraModel> cameraModels;
 		double stampDiff = 0;
 		for(unsigned int i=0; i<rgbImages.size(); ++i)
 		{