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ros-pkg: added publish_map service to rtabmap node. Updated demo_find_object.launch with higher icp2d constraints

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1645 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-08-13 19:25:44 +00:00
parent 4e3c30d8ed
commit 36c647e6fe
4 changed files with 187 additions and 1 deletions
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src/GuiWrapper.cpp
+14 -1
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@@ -295,6 +295,13 @@ void GuiWrapper::processRequestedMap(const rtabmap::MapData & map)
std::map<int, Transform> localTransforms;
std::map<int, Transform> poses;
std::multimap<int, Link> constraints;
std::map<int, int> mapIds;
if(map.mapIDs.size() != map.maps.size())
{
ROS_WARN("rtabmapviz: receiving map... maps and IDs are not the same size (%d vs %d)!",
(int)map.maps.size(), (int)map.mapIDs.size());
}
if(map.imageIDs.size() != map.images.size())
{
@@ -349,6 +356,11 @@ void GuiWrapper::processRequestedMap(const rtabmap::MapData & map)
(int)map.constraints.size(), (int)map.constraintFromIDs.size(), (int)map.constraintToIDs.size(), (int)map.constraintTypes.size());
}
for(unsigned int i=0; i<map.mapIDs.size() && i < map.maps.size(); ++i)
{
mapIds.insert(std::make_pair(map.mapIDs[i], map.maps[i]));
}
for(unsigned int i=0; i<map.imageIDs.size() && i < map.images.size(); ++i)
{
images.insert(std::make_pair(map.imageIDs[i], map.images[i].bytes));
@@ -409,7 +421,8 @@ void GuiWrapper::processRequestedMap(const rtabmap::MapData & map)
depthCys,
localTransforms,
poses,
constraints));
constraints,
mapIds));
}
void GuiWrapper::handleEvent(UEvent * anEvent)