i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Updated to not use deprecated get3DMap().

Browse Source
This commit is contained in:
matlabbe
2020-05-06 08:05:58 -04:00
parent d43bc7697a
commit 0c4779c19e
1 changed files with 20 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/CoreWrapper.cpp
+10 -26
View File
@@ -2705,24 +2705,16 @@ bool CoreWrapper::getMapDataCallback(rtabmap_ros::GetMap::Request& req, rtabmap_
std::map<int, Transform> poses; std::map<int, Transform> poses;
std::multimap<int, rtabmap::Link> constraints; std::multimap<int, rtabmap::Link> constraints;
if(req.graphOnly)
{
rtabmap_.getGraph( rtabmap_.getGraph(
poses, poses,
constraints, constraints,
req.optimized, req.optimized,
req.global, req.global,
&signatures); &signatures,
} !req.graphOnly,
else !req.graphOnly,
{ !req.graphOnly,
rtabmap_.get3DMap( !req.graphOnly);
signatures,
poses,
constraints,
req.optimized,
req.global);
}
//RGB-D SLAM data //RGB-D SLAM data
rtabmap_ros::mapDataToROS(poses, rtabmap_ros::mapDataToROS(poses,
@@ -2839,24 +2831,16 @@ bool CoreWrapper::publishMapCallback(rtabmap_ros::PublishMap::Request& req, rtab
std::multimap<int, rtabmap::Link> constraints; std::multimap<int, rtabmap::Link> constraints;
std::map<int, Signature > signatures; std::map<int, Signature > signatures;
if(req.graphOnly)
{
rtabmap_.getGraph( rtabmap_.getGraph(
poses, poses,
constraints, constraints,
req.optimized, req.optimized,
req.global, req.global,
&signatures); &signatures,
} !req.graphOnly,
else !req.graphOnly,
{ !req.graphOnly,
rtabmap_.get3DMap( !req.graphOnly);
signatures,
poses,
constraints,
req.optimized,
req.global);
}
ros::Time now = ros::Time::now(); ros::Time now = ros::Time::now();
if(mapDataPub_.getNumSubscribers()) if(mapDataPub_.getNumSubscribers())