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Updated to not use deprecated get3DMap().

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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
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src/CoreWrapper.cpp
+20 -36
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@@ -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(
{ poses,
rtabmap_.getGraph( constraints,
poses, req.optimized,
constraints, req.global,
req.optimized, &signatures,
req.global, !req.graphOnly,
&signatures); !req.graphOnly,
} !req.graphOnly,
else !req.graphOnly);
{
rtabmap_.get3DMap(
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(
{ poses,
rtabmap_.getGraph( constraints,
poses, req.optimized,
constraints, req.global,
req.optimized, &signatures,
req.global, !req.graphOnly,
&signatures); !req.graphOnly,
} !req.graphOnly,
else !req.graphOnly);
{
rtabmap_.get3DMap(
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())