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Split librtabmap_ros.so in to 3 libraries to decrease compilation time. Added scan-only common subscribers.

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matlabbe
2018-11-14 17:51:47 -05:00
parent adcaa98cec
commit 2ac46c983a
13 changed files with 928 additions and 48 deletions
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src/OdometryROS.cpp
+11
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@@ -192,6 +192,17 @@ void OdometryROS::onInit()
//parameters
parameters_ = Parameters::getDefaultOdometryParameters(stereoParams_, visParams_, icpParams_);
if(icpParams_)
{
if(!visParams_)
{
uInsert(parameters_, ParametersPair(Parameters::kRegStrategy(), "1"));
}
else
{
uInsert(parameters_, ParametersPair(Parameters::kRegStrategy(), "2"));
}
}
parameters_.insert(*Parameters::getDefaultParameters().find(Parameters::kRtabmapImagesAlreadyRectified()));
if(!configPath.empty())
{