Please see my comments in the code where I made the changes- it should be all clearly explained as to what was wrong. C++ is not my strongest side though, so if you see something silly in my changes, then please let's fix it between us.
It compiles now and even starts up, although I can't at this very moment run it with my realsense camera- I will try that tomorrow.
I really need dense maps out of your orb_slam_2_ros for my research project. Is that all that was needed? Do you think it should work now? It looks like you are not really using your mt_task_queue. The relevant lines have been commented out in DenseMap.cc, DenseMap::AddFrameToMap function:
Hi, I think I fixed your dense_map branch. More specifically I fixed the annoying bug while linking against mt_task_queue:
orb_slam2/lib/liborb_slam2_ros.so: undefined reference to TaskQueue::TaskQueue<boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> >, boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> >, boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> >, cv::Mat>::~TaskQueue()Please see my comments in the code where I made the changes- it should be all clearly explained as to what was wrong. C++ is not my strongest side though, so if you see something silly in my changes, then please let's fix it between us.
It compiles now and even starts up, although I can't at this very moment run it with my realsense camera- I will try that tomorrow.
I really need dense maps out of your orb_slam_2_ros for my research project. Is that all that was needed? Do you think it should work now? It looks like you are not really using your mt_task_queue. The relevant lines have been commented out in DenseMap.cc, DenseMap::AddFrameToMap function:
//task_queue_->AddTask (current_task_id_, 1, DenseMap::FitFrame); //task_queue_->AddTask (current_task_id_, 1, test);Do you think we could get this working? I'm sure it will be faster to do with your support.
Thanks, Arturs Elksnis