the usage of util3d::mergeTextures()

Posted by Letiantian on
URL: http://official-rtab-map-forum.206.s1.nabble.com/the-usage-of-util3d-mergeTextures-tp6805.html

When my c++ program executes to the line of "util3d::mergeTextures()", errors occur as follows:
fullMsg = "[FATAL] (2020-07-29 17:43:04) util3d_surface.cpp:1573::rtabmap::util3d::mergeTextures() Condition (!image.empty()) not met!"

The usage of "util3d::mergeTextures()" is in the following:
cv::Mat textures = rtabmap::util3d::mergeTextures(
                        *textureMesh,
                        std::map<int, cv::Mat>(),
                        std::map<int, rtabmap::CameraModel>(),
                        mRM.getMemory(),
                        0,
                        textureSize,
                        textureCount, // to get contrast values based on all images in multiband mode
                        vertexToPixels,
                        doGainCompensation,
                        10.0f,
                        true,
                        doBlending,
                        0,
                        0,
                        10, // low-high brightness/contrast balance
                        false, // exposure fusion
                        0,     // state
                        255,     // blank value (0=black), 255
                        &gains,
                        &blendingGains,
                        &contrastValues);
where
pcl::TextureMeshPtr textureMesh = rtabmap::util3d::createTextureMesh(
                triangles,
                cameraPoses,
                cameraModels,
                cameraDepths,
                optimizedMaxTextureDistance,
                0.0f,
                0.0f,
                200,
                std::vector<float>(),
                0,
                &vertexToPixels);
I do not know why.Are there any other values, such as "rtabmap::ParametersMap parameters;
        parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisEstimationType(), std::string("0")))",   that should be set?Could you please give me some suggestions?Thanks.