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updated some events with user_data/stamp

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Mathieu Labbe
2015-03-25 14:26:25 -04:00
parent 186dc60a49
commit 19d6da9035
5 changed files with 63 additions and 30 deletions
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corelib/src/RtabmapThread.cpp
+14 -2
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@@ -117,13 +117,17 @@ void RtabmapThread::publishMap(bool optimized, bool full) const
std::map<int, Transform> poses;
std::multimap<int, Link> constraints;
std::map<int, int> mapIds;
std::map<int, double> stamps;
std::map<int, std::string> labels;
std::map<int, std::vector<unsigned char> > userDatas;
_rtabmap->get3DMap(signatures,
poses,
constraints,
mapIds,
stamps,
labels,
userDatas,
optimized,
full);
@@ -131,7 +135,9 @@ void RtabmapThread::publishMap(bool optimized, bool full) const
poses,
constraints,
mapIds,
labels));
stamps,
labels,
userDatas));
}
void RtabmapThread::publishTOROGraph(bool optimized, bool full) const
@@ -140,12 +146,16 @@ void RtabmapThread::publishTOROGraph(bool optimized, bool full) const
std::map<int, Transform> poses;
std::multimap<int, Link> constraints;
std::map<int, int> mapIds;
std::map<int, double> stamps;
std::map<int, std::string> labels;
std::map<int, std::vector<unsigned char> > userDatas;
_rtabmap->getGraph(poses,
constraints,
mapIds,
stamps,
labels,
userDatas,
optimized,
full);
@@ -153,7 +163,9 @@ void RtabmapThread::publishTOROGraph(bool optimized, bool full) const
poses,
constraints,
mapIds,
labels));
stamps,
labels,
userDatas));
}