Updated with upstream changes

rtabmap_util/include/rtabmap_util/MapsManager.h

@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/Signature.h>
 #include <rtabmap/core/Parameters.h>
 #include <rtabmap/core/FlannIndex.h>
+#include <rtabmap/core/LocalGrid.h>
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 #include <rclcpp/rclcpp.hpp>
@@ -47,6 +48,7 @@ namespace rtabmap {
 class OctoMap;
 class Memory;
 class OccupancyGrid;
+class LocalGridMaker;
 
 }  // namespace rtabmap
 
@@ -94,6 +96,7 @@ public:
 	const rtabmap::OctoMap * getOctomap() const {return octomap_;}
 #endif
 	const rtabmap::OccupancyGrid * getOccupancyGrid() const {return occupancyGrid_;}
+	const rtabmap::LocalGridMaker * getLocalMapMaker() const {return localMapMaker_;}
 
 private:
 	// mapping stuff
@@ -133,12 +136,10 @@ private:
 	std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > groundClouds_;
 	std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > obstacleClouds_;
 
-	std::map<int, rtabmap::Transform> gridPoses_;
-	cv::Mat gridMap_;
-	std::map<int, std::pair< std::pair<cv::Mat, cv::Mat>, cv::Mat> > gridMaps_; // < <ground, obstacles>, empty cells >
-	std::map<int, cv::Point3f> gridMapsViewpoints_;
+	rtabmap::LocalGridCache localMaps_;
 
 	rtabmap::OccupancyGrid * occupancyGrid_;
+	rtabmap::LocalGridMaker * localMapMaker_;
 	bool gridUpdated_;
 
 #ifdef RTABMAP_OCTOMAP

rtabmap_util/include/rtabmap_util/obstacles_detection.hpp

@@ -33,7 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
-#include <rtabmap/core/OccupancyGrid.h>
+#include <rtabmap/core/LocalGridMaker.h>
 
 namespace rtabmap_util
 {
@@ -53,7 +53,7 @@ private:
 	std::string mapFrameId_;
 	double waitForTransform_;
 
-	rtabmap::OccupancyGrid grid_;
+	rtabmap::LocalGridMaker localMapMaker_;
 	bool mapFrameProjection_;
 	bool warned_;