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Updated for rtabmap 0.10.0 (multi-cameras)

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Mathieu Labbe
2015-05-30 20:08:20 -04:00
parent 2568ff30c2
commit fcd343cdd9
21 changed files with 1309 additions and 1251 deletions
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src/GridMapAssemblerNode.cpp
+3 -2
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@@ -99,9 +99,10 @@ public:
}
std::map<int, Transform> poses;
for(unsigned int i=0; i<msg->graph.nodeIds.size() && i<msg->graph.poses.size(); ++i)
UASSERT(msg->posesId.size() == msg->poses.size());
for(unsigned int i=0; i<msg->posesId.size(); ++i)
{
poses.insert(std::make_pair(msg->graph.nodeIds[i], rtabmap_ros::transformFromPoseMsg(msg->graph.poses[i])));
poses.insert(std::make_pair(msg->posesId[i], rtabmap_ros::transformFromPoseMsg(msg->poses[i])));
}
if(filterRadius_ > 0.0 && filterAngle_ > 0.0)