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Removed grid_map_assembler, map_assembler is now using MapsManager (now use same published topics and mapping parameters than rtabmap), added all optimization parameters to map_optimizer (g2o and GTSAM can be selected)

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This commit is contained in:
matlabbe
2015-10-31 15:20:57 -04:00
parent cb0ebecd5f
commit 1dfa4e7f95
7 changed files with 212 additions and 491 deletions
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CMakeLists.txt
+2 -6
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@@ -145,6 +145,7 @@ SET(rtabmap_ros_lib_src
src/rviz/MapGraphDisplay.cpp
src/rviz/InfoDisplay.cpp
src/rviz/OrbitOrientedViewController.cpp
src/MapsManager.cpp
${MOC_FILES}
)
@@ -186,7 +187,7 @@ SET(Libraries
add_definitions(-DWITH_OCTOMAP)
ENDIF(octomap_ros_FOUND)
add_executable(rtabmap src/CoreNode.cpp src/CoreWrapper.cpp src/MapsManager.cpp)
add_executable(rtabmap src/CoreNode.cpp src/CoreWrapper.cpp)
target_link_libraries(rtabmap rtabmap_ros ${Libraries})
add_executable(rgbd_odometry src/RGBDOdometryNode.cpp)
@@ -201,9 +202,6 @@ target_link_libraries(map_optimizer rtabmap_ros ${Libraries})
add_executable(map_assembler src/MapAssemblerNode.cpp)
target_link_libraries(map_assembler rtabmap_ros ${Libraries})
add_executable(grid_map_assembler src/GridMapAssemblerNode.cpp)
target_link_libraries(grid_map_assembler rtabmap_ros ${Libraries})
add_executable(camera src/CameraNode.cpp)
add_dependencies(camera ${${PROJECT_NAME}_EXPORTED_TARGETS})
target_link_libraries(camera ${Libraries})
@@ -244,7 +242,6 @@ install(TARGETS
rgbd_odometry
stereo_odometry
map_assembler
grid_map_assembler
map_optimizer
data_player
camera
@@ -259,7 +256,6 @@ install(TARGETS
rgbd_odometry
stereo_odometry
map_assembler
grid_map_assembler
map_optimizer
data_player
camera