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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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src/CoreWrapper.cpp
+8 -3
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@@ -89,6 +89,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
genScan_(false),
genScanMaxDepth_(4.0),
mapToOdom_(rtabmap::Transform::getIdentity()),
mapsManager_(true),
depthSync_(0),
depthScanSync_(0),
stereoScanSync_(0),
@@ -1244,6 +1245,7 @@ void CoreWrapper::process(
false,
false,
false,
false,
tmpSignature);
mapsManager_.publishMaps(filteredPoses, stamp, mapFrameId_);
@@ -1663,6 +1665,7 @@ bool CoreWrapper::getProjMapCallback(nav_msgs::GetMap::Request &req, nav_msgs::
rtabmap_.getMemory(),
false,
true,
false,
false);
if(filteredPoses.size())
{
@@ -1706,7 +1709,8 @@ bool CoreWrapper::getGridMapCallback(nav_msgs::GetMap::Request &req, nav_msgs::
rtabmap_.getMemory(),
false,
false,
true);
true,
false);
if(filteredPoses.size())
{
// create the grid map
@@ -1818,6 +1822,7 @@ bool CoreWrapper::publishMapCallback(rtabmap_ros::PublishMap::Request& req, rtab
false,
false,
false,
false,
signatures);
}
else
@@ -2282,7 +2287,7 @@ bool CoreWrapper::octomapBinaryCallback(
res.map.header.stamp = ros::Time::now();
std::map<int, Transform> poses = rtabmap_.getLocalOptimizedPoses();
poses = mapsManager_.updateMapCaches(poses, rtabmap_.getMemory(), true, false, false);
poses = mapsManager_.updateMapCaches(poses, rtabmap_.getMemory(), true, false, false, false);
octomap::OcTree * octree = mapsManager_.createOctomap(poses);
bool success = octree != 0 && octree->size() && octomap_msgs::binaryMapToMsg(*octree, res.map);
@@ -2302,7 +2307,7 @@ bool CoreWrapper::octomapFullCallback(
res.map.header.stamp = ros::Time::now();
std::map<int, Transform> poses = rtabmap_.getLocalOptimizedPoses();
poses = mapsManager_.updateMapCaches(poses, rtabmap_.getMemory(), true, false, false);
poses = mapsManager_.updateMapCaches(poses, rtabmap_.getMemory(), true, false, false, false);
octomap::OcTree * octree = mapsManager_.createOctomap(poses);
bool success = octree != 0 && octree->size() && octomap_msgs::fullMapToMsg(*octree, res.map);