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Update for issue #38: rtabmapviz: Added "init_cache_path" ROS parameter to update the cache on start from a local database copy, action Edit->"Update cache from a local database..." added

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matlabbe
2015-10-16 17:46:37 -04:00
parent 9a52cf99e9
commit 21200890a6
1 changed files with 29 additions and 0 deletions
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src/GuiWrapper.cpp
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@@ -36,6 +36,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UEventsManager.h> #include <rtabmap/utilite/UEventsManager.h>
#include <rtabmap/utilite/UConversion.h> #include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UDirectory.h>
#include <opencv2/highgui/highgui.hpp> #include <opencv2/highgui/highgui.hpp>
@@ -125,6 +126,7 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
int queueSize = 10; int queueSize = 10;
int depthCameras = 1; int depthCameras = 1;
std::string tfPrefix; std::string tfPrefix;
std::string initCachePath;
pnh.param("frame_id", frameId_, frameId_); pnh.param("frame_id", frameId_, frameId_);
pnh.param("odom_frame_id", odomFrameId_, odomFrameId_); // set to use odom from TF pnh.param("odom_frame_id", odomFrameId_, odomFrameId_); // set to use odom from TF
pnh.param("subscribe_depth", subscribeDepth, subscribeDepth); pnh.param("subscribe_depth", subscribeDepth, subscribeDepth);
@@ -137,6 +139,33 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
pnh.param("wait_for_transform", waitForTransform_, waitForTransform_); pnh.param("wait_for_transform", waitForTransform_, waitForTransform_);
pnh.param("wait_for_transform_duration", waitForTransformDuration_, waitForTransformDuration_); pnh.param("wait_for_transform_duration", waitForTransformDuration_, waitForTransformDuration_);
pnh.param("camera_node_name", cameraNodeName_, cameraNodeName_); // used to pause the rtabmap_ros/camera when pausing the process pnh.param("camera_node_name", cameraNodeName_, cameraNodeName_); // used to pause the rtabmap_ros/camera when pausing the process
pnh.param("init_cache_path", initCachePath, initCachePath);
if(initCachePath.size())
{
initCachePath = uReplaceChar(initCachePath, '~', UDirectory::homeDir());
if(initCachePath.at(0) != '/')
{
initCachePath = UDirectory::currentDir(true) + initCachePath;
}
ROS_INFO("rtabmapviz: Initializing cache with local database \"%s\"", initCachePath.c_str());
uSleep(2000); // make sure rtabmap node is created if launched at the same time
rtabmap_ros::GetMap getMapSrv;
getMapSrv.request.global = false;
getMapSrv.request.optimized = true;
getMapSrv.request.graphOnly = true;
if(!ros::service::call("get_map", getMapSrv))
{
ROS_WARN("Can't call \"get_map\" service. The cache will still be loaded "
"but the clouds won't be created until next time rtabmapviz "
"receives the optimized graph.");
}
else
{
// this will update the poses and constraints of the MainWindow
processRequestedMap(getMapSrv.response.data);
}
QMetaObject::invokeMethod(mainWindow_, "updateCacheFromDatabase", Q_ARG(QString, QString(initCachePath.c_str())));
}
if(!tfPrefix.empty()) if(!tfPrefix.empty())
{ {