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MapsManager: Added warning msg when many clouds have to be created at once

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matlabbe
2016-06-17 15:42:42 -04:00
parent f0e2badb7e
commit 4a954b9fef
1 changed files with 30 additions and 0 deletions
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src/MapsManager.cpp
+30
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@@ -244,6 +244,31 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
} }
} }
bool longUpdate = false;
if(filteredPoses.size() > 20)
{
if(updateCloud && clouds_.size() < 5)
{
ROS_WARN("Many clouds should be created (~%d), this may take a while to update the map(s)...", int(filteredPoses.size()-clouds_.size()));
longUpdate = true;
}
else if(updateProj && projMaps_.size() < 5)
{
ROS_WARN("Many occupancy grid map from projections should be created (~%d), this may take a while to update the map(s)...", int(filteredPoses.size()-projMaps_.size()));
longUpdate = true;
}
else if(updateGrid && gridMaps_.size() < 5)
{
ROS_WARN("Many occupancy grid map from laser scans should be created (~%d), this may take a while to update the map(s)...", int(filteredPoses.size()-gridMaps_.size()));
longUpdate = true;
}
else if(updateScan && scans_.size() < 5)
{
ROS_WARN("Many scans should be created (~%d), this may take a while to update the map(s)...", int(filteredPoses.size()-scans_.size()));
longUpdate = true;
}
}
for(std::map<int, rtabmap::Transform>::iterator iter=filteredPoses.begin(); iter!=filteredPoses.end(); ++iter) for(std::map<int, rtabmap::Transform>::iterator iter=filteredPoses.begin(); iter!=filteredPoses.end(); ++iter)
{ {
if(!iter->second.isNull()) if(!iter->second.isNull())
@@ -539,6 +564,11 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
++iter; ++iter;
} }
} }
if(longUpdate)
{
ROS_WARN("Map(s) updated!");
}
} }
return filteredPoses; return filteredPoses;