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ros: Added rtabmap/GetMap service, removed MapData from InfoEx msg

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1459 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-06 19:58:15 +00:00
parent 39cff6d0cb
commit 4d557e6a50
14 changed files with 455 additions and 675 deletions
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src/rviz/MapCloudDisplay.cpp
+19 -19
View File
@@ -154,51 +154,51 @@ void MapCloudDisplay::onInitialize()
spinner_.start();
}
void MapCloudDisplay::processMessage( const rtabmap::InfoExConstPtr& msg )
void MapCloudDisplay::processMessage( const rtabmap::MapDataConstPtr& msg )
{
// Add new clouds...
for(unsigned int i=0; i<msg->data.localTransformIDs.size() && i<msg->data.localTransforms.size(); ++i)
for(unsigned int i=0; i<msg->localTransformIDs.size() && i<msg->localTransforms.size(); ++i)
{
int id = msg->data.localTransformIDs[i];
int id = msg->localTransformIDs[i];
if(cloud_infos_.find(id) == cloud_infos_.end())
{
// Cloud not added to RVIZ, add it!
rtabmap::Transform localTransform = transformFromGeometryMsg(msg->data.localTransforms[i]);
rtabmap::Transform localTransform = transformFromGeometryMsg(msg->localTransforms[i]);
if(!localTransform.isNull())
{
cv::Mat image, depth;
float depthConstant = 0.0f;
rtabmap::Transform pose;
for(unsigned int i=0; i<msg->data.imageIDs.size() && i<msg->data.images.size(); ++i)
for(unsigned int i=0; i<msg->imageIDs.size() && i<msg->images.size(); ++i)
{
if(msg->data.imageIDs[i] == id)
if(msg->imageIDs[i] == id)
{
image = util3d::uncompressImage(msg->data.images[i].bytes);
image = util3d::uncompressImage(msg->images[i].bytes);
break;
}
}
for(unsigned int i=0; i<msg->data.depthIDs.size() && i<msg->data.depths.size(); ++i)
for(unsigned int i=0; i<msg->depthIDs.size() && i<msg->depths.size(); ++i)
{
if(msg->data.depthIDs[i] == id)
if(msg->depthIDs[i] == id)
{
depth = util3d::uncompressImage(msg->data.depths[i].bytes);
depth = util3d::uncompressImage(msg->depths[i].bytes);
break;
}
}
for(unsigned int i=0; i<msg->data.depthConstantIDs.size() && i<msg->data.depthConstants.size(); ++i)
for(unsigned int i=0; i<msg->depthConstantIDs.size() && i<msg->depthConstants.size(); ++i)
{
if(msg->data.depthConstantIDs[i] == id)
if(msg->depthConstantIDs[i] == id)
{
depthConstant = msg->data.depthConstants[i];
depthConstant = msg->depthConstants[i];
break;
}
}
for(unsigned int i=0; i<msg->data.poseIDs.size() && i<msg->data.poses.size(); ++i)
for(unsigned int i=0; i<msg->poseIDs.size() && i<msg->poses.size(); ++i)
{
if(msg->data.poseIDs[i] == id)
if(msg->poseIDs[i] == id)
{
pose = transformFromPoseMsg(msg->data.poses[i]);
pose = transformFromPoseMsg(msg->poses[i]);
break;
}
}
@@ -223,7 +223,7 @@ void MapCloudDisplay::processMessage( const rtabmap::InfoExConstPtr& msg )
sensor_msgs::PointCloud2::Ptr cloudMsg(new sensor_msgs::PointCloud2);
pcl::toROSMsg(*cloud, *cloudMsg);
cloudMsg->header = msg->data.header;
cloudMsg->header = msg->header;
CloudInfoPtr info(new CloudInfo);
info->message_ = cloudMsg;
@@ -242,9 +242,9 @@ void MapCloudDisplay::processMessage( const rtabmap::InfoExConstPtr& msg )
// Update graph
std::map<int, Transform> poses;
for(unsigned int i=0; i<msg->data.poseIDs.size() && i<msg->data.poses.size(); ++i)
for(unsigned int i=0; i<msg->poseIDs.size() && i<msg->poses.size(); ++i)
{
poses.insert(std::make_pair(msg->data.poseIDs[i], transformFromPoseMsg(msg->data.poses[i])));
poses.insert(std::make_pair(msg->poseIDs[i], transformFromPoseMsg(msg->poses[i])));
}
{
src/rviz/MapCloudDisplay.h
+3 -3
View File
@@ -6,7 +6,7 @@
#include <queue>
#include <vector>
#include <rtabmap/InfoEx.h>
#include <rtabmap/MapData.h>
#include <rtabmap/core/Transform.h>
#include <pluginlib/class_loader.h>
@@ -41,7 +41,7 @@ class PointCloudCommon;
* If you set the channel's name to "rgb", it will interpret the channel as an integer rgb value, with r, g and b
* all being 8 bits.
*/
class MapCloudDisplay: public rviz::MessageFilterDisplay<rtabmap::InfoEx>
class MapCloudDisplay: public rviz::MessageFilterDisplay<rtabmap::MapData>
{
Q_OBJECT
public:
@@ -99,7 +99,7 @@ protected:
virtual void onInitialize();
/** @brief Process a single message. Overridden from MessageFilterDisplay. */
virtual void processMessage( const rtabmap::InfoExConstPtr& cloud );
virtual void processMessage( const rtabmap::MapDataConstPtr& cloud );
private:
/**