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Deprecated Rtabmap::get3DMap(), use Rtabmap::getGraph() instead with setting to true the data flags. Rtabmap::getGraph() now ignores children nodes.

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matlabbe
2020-05-06 08:04:58 -04:00
parent 7d377d26df
commit 1af139134e
8 changed files with 52 additions and 82 deletions
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2
examples/RGBDMapping/main.cpp
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@@ -216,7 +216,7 @@ int main(int argc, char * argv[])
std::map<int, Signature> nodes;
std::map<int, Transform> optimizedPoses;
std::multimap<int, Link> links;
rtabmap->get3DMap(nodes, optimizedPoses, links, true, true);
rtabmap->getGraph(optimizedPoses, links, true, true, &nodes, true, true, true, true);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
for(std::map<int, Transform>::iterator iter=optimizedPoses.begin(); iter!=optimizedPoses.end(); ++iter)
{