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This post was updated on .
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.
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