v0.0.9 integrateDepth(PointCloud,... ) mapper_impl.h not working

[lyinch]

I noticed that the pointcloud integrator introduced in v0.0.9 doesn't seem to work: 9413b5d#diff-d989e014492646bd8691e3d9a661bd64009a3714daa33541cc020ff62cfcd3f3R190

  nvblox::Mapper mapper(voxel_size_m, nvblox::MemoryType::kDevice, nvblox::ProjectiveLayerType::kTsdf);
  mapper.integrateDepth(pointCloud, T_L_C, Lidar, false, std::nullopt, std::nullopt);

returns for me

/usr/local/include/nvblox/mapper/internal/impl/mapper_impl.h:99:3: error: no matching member function for call to 'integrateDepth'
   99 |   integrateDepth(depth_frame_from_pointcloud_, T_L_S_scanStart, lidar_sensor,
      |   ^~~~~~~~~~~~~~
/foo/src/nvblox_node.cpp:63:10: note: in instantiation of function template specialization 'nvblox::Mapper::integrateDepth<nvblox::Lidar>' requested here
   63 |   mapper.integrateDepth(pointCloud, T_L_C, Lidar, false, std::nullopt, std::nullopt);
      |          ^
/usr/local/include/nvblox/mapper/internal/impl/mapper_impl.h:82:14: note: candidate function template not viable: no known conversion from 'DepthImage' (aka 'Image<float>') to 'const Pointcloud' for 1st argument
   82 | void Mapper::integrateDepth(const Pointcloud& pointcloud,
      |              ^              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/nvblox/mapper/internal/impl/mapper_impl.h:20:14: note: candidate function template not viable: requires 3 arguments, but 5 were provided
   20 | void Mapper::integrateDepth(const DepthImage& depth_frame,
      |              ^              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   21 |                             const Transform& T_L_C, const SensorType& sensor) {
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/nvblox/mapper/internal/impl/mapper_impl.h:27:14: note: candidate function template not viable: requires 3 arguments, but 5 were provided
   27 | void Mapper::integrateDepth(const MaskedDepthImageConstView& depth_frame,
      |              ^              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   28 |                             const Transform& T_L_C, const SensorType& sensor) {
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
1 error generated.

It appears that inside this function it does:

  integrateDepth(depth_frame_from_pointcloud_, T_L_S_scanStart, lidar_sensor,
                 T_L_S_scanEnd, scan_duration_ms);

but there's no implementation for this signature. Note that the multi-mapper uses another integration call: 9413b5d#diff-dae87c7dd3ab84d4e87df48556322361e1bad7597c401e63744922356c1be411R176

  // Integrate the depth image.
  integrateDepth(depth_frame_from_pointcloud_, T_L_S_scanStart, lidar_sensor,
                 update_time_ms);

I'm new to nvblox, so perhaps I'm using the API for LiDARs wrong.

[remostei]

Thanks for pointing this out!
We’ve included a fix in this PR—please let us know if it resolves the issue for you.

If you want to run in dynamic mapping mode, consider using MultiMapper::integrateDepth instead of Mapper::integrateDepth.
You can find an example of how to use this function in fuser.cpp.