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ros-pkg: updated for RTAB-Map 0.6.5

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1432 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-22 03:35:17 +00:00
parent d021efe4ea
commit 2c82fb0585
8 changed files with 131 additions and 28 deletions
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src/CoreWrapper.cpp
+9 -1
View File
@@ -124,7 +124,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
}
// set public parameters
nh.param("is_rtabmap_paused", paused_, paused_);
nh.setParam("is_rtabmap_paused", paused_);
for(ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
nh.setParam(iter->first, iter->second);
@@ -201,6 +201,14 @@ CoreWrapper::~CoreWrapper()
this->saveParameters(configPath_);
ros::NodeHandle nh;
ParametersMap parameters = Parameters::getDefaultParameters();
for(ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
nh.deleteParam(iter->first);
}
nh.deleteParam("is_rtabmap_paused");
std::string databasePath = rtabmap_.getDatabasePath();
printf("rtabmap: Saving database/long-term memory... (located at %s)\n", databasePath.c_str());
}
src/VisualOdometryNode.cpp
+18 -15
View File
@@ -61,13 +61,16 @@ public:
rtabmap::ParametersMap parametersOdom;
for(rtabmap::ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
if((uSplit(iter->first, '/').front().compare("Odom") == 0 ||
uSplit(iter->first, '/').front().compare("OdomBin") == 0 ||
uSplit(iter->first, '/').front().compare("Kp") == 0 ||
uSplit(iter->first, '/').front().compare("SURF") == 0 ||
uSplit(iter->first, '/').front().compare("SIFT") == 0)
std::string group = uSplit(iter->first, '/').front();
if((group.compare("Odom") == 0 ||
group.compare("SURF") == 0 ||
group.compare("SIFT") == 0 ||
group.compare("ORB") == 0 ||
group.compare("FAST") == 0 ||
group.compare("FREAK") == 0 ||
group.compare("BRIEF") == 0)
&&
uSplit(iter->first, '/').front().compare("OdomICP") != 0)
group.compare("OdomICP") != 0)
{
parametersOdom.insert(*iter);
}
@@ -107,14 +110,7 @@ public:
}
}
if(std::atoi(parametersOdom.at(Parameters::kOdomType()).c_str()) == 1)
{
odometry_ = new rtabmap::OdometryBinary(parametersOdom);
}
else
{
odometry_ = new rtabmap::OdometryBOW(parametersOdom);
}
odometry_ = new rtabmap::OdometryBOW(parametersOdom);
ros::NodeHandle rgb_nh(nh, "rgb");
ros::NodeHandle depth_nh(nh, "depth");
@@ -139,6 +135,13 @@ public:
~VisualOdometry()
{
ros::NodeHandle pnh("~");
ParametersMap parameters = Parameters::getDefaultParameters();
for(ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
pnh.deleteParam(iter->first);
}
delete sync_;
delete odometry_;
}
@@ -155,7 +158,7 @@ public:
!(depth->encoding.compare(sensor_msgs::image_encodings::TYPE_16UC1)==0 ||
depth->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1)==0))
{
ROS_ERROR("Input type must be image=mono8,rgb8,bgr8 and image_depth=16UC1");
ROS_ERROR("Input type must be image=mono8,rgb8,bgr8 (mono8 recommended) and image_depth=16UC1");
return;
}
else if(depth->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1)==0)