Merge pull request #191 from AchmadFathoni/master

Successfully compile to pcl-1.11.1, pcl-ros-1.7.2 and g20-20201223_git
koide3 · Jun 10, 2021 · 31ed9d6 · 31ed9d6
2 parents 9fd7c27 + 52a7801
commit 31ed9d6
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Showing 4 changed files with 8 additions and 7 deletions.
diff --git a/apps/floor_detection_nodelet.cpp b/apps/floor_detection_nodelet.cpp
@@ -124,7 +124,7 @@ class FloorDetectionNodelet : public nodelet::Nodelet {
 
     if(floor_filtered_pub.getNumSubscribers()) {
       filtered->header = cloud->header;
-      floor_filtered_pub.publish(filtered);
+      floor_filtered_pub.publish(*filtered);
     }
 
     // too few points for RANSAC
@@ -171,7 +171,7 @@ class FloorDetectionNodelet : public nodelet::Nodelet {
       extract.filter(*inlier_cloud);
       inlier_cloud->header = cloud->header;
 
-      floor_points_pub.publish(inlier_cloud);
+      floor_points_pub.publish(*inlier_cloud);
     }
 
     return Eigen::Vector4f(coeffs);

diff --git a/apps/prefiltering_nodelet.cpp b/apps/prefiltering_nodelet.cpp
@@ -103,7 +103,8 @@ class PrefilteringNodelet : public nodelet::Nodelet {
     imu_queue.push_back(imu_msg);
   }
 
-  void cloud_callback(pcl::PointCloud<PointT>::ConstPtr src_cloud) {
+  void cloud_callback(const pcl::PointCloud<PointT>& src_cloud_r) {
+    pcl::PointCloud<PointT>::ConstPtr src_cloud = src_cloud_r.makeShared();
     if(src_cloud->empty()) {
       return;
     }
@@ -131,7 +132,7 @@ class PrefilteringNodelet : public nodelet::Nodelet {
     filtered = downsample(filtered);
     filtered = outlier_removal(filtered);
 
-    points_pub.publish(filtered);
+    points_pub.publish(*filtered);
   }
 
   pcl::PointCloud<PointT>::ConstPtr downsample(const pcl::PointCloud<PointT>::ConstPtr& cloud) const {
@@ -200,7 +201,7 @@ class PrefilteringNodelet : public nodelet::Nodelet {
         colored->at(i).g = 128;
         colored->at(i).b = 255 * (1 - t);
       }
-      colored_pub.publish(colored);
+      colored_pub.publish(*colored);
     }
 
     sensor_msgs::ImuConstPtr imu_msg = imu_queue.front();

diff --git a/apps/scan_matching_odometry_nodelet.cpp b/apps/scan_matching_odometry_nodelet.cpp
@@ -254,7 +254,7 @@ class ScanMatchingOdometryNodelet : public nodelet::Nodelet {
     {
       pcl::transformPointCloud (*cloud, *aligned, odom);
       aligned->header.frame_id=odom_frame_id;
-      aligned_points_pub.publish(aligned);
+      aligned_points_pub.publish(*aligned);
     }
 
     return odom;

diff --git a/src/hdl_graph_slam/graph_slam.cpp b/src/hdl_graph_slam/graph_slam.cpp
@@ -334,7 +334,7 @@ bool GraphSLAM::load(const std::string& filename) {
   g2o::SparseOptimizer* graph = dynamic_cast<g2o::SparseOptimizer*>(this->graph.get());
 
   std::ifstream ifs(filename);
-  if(!graph->load(ifs, true)) {
+  if(!graph->load(ifs)) {
     return false;
   }