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0.17.0: Occupancy grid is automatically saved in database (#213). By default on localization, rtabmap will adjust the odometry to match the latest saved localization in the database (starting automatically from where the robot shut down, #220).

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This commit is contained in:
matlabbe
2018-04-04 19:18:27 -04:00
parent dc29b74111
commit 75f1652194
5 changed files with 63 additions and 52 deletions
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src/MapsManager.cpp
+6 -2
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@@ -290,6 +290,11 @@ void MapsManager::setParameters(const rtabmap::ParametersMap & parameters)
#endif
}
void MapsManager::set2DMap(const cv::Mat & map, float xMin, float yMin, float cellSize, const std::map<int, rtabmap::Transform> & poses)
{
occupancyGrid_->setMap(map, xMin, yMin, cellSize, poses);
}
void MapsManager::clear()
{
gridMaps_.clear();
@@ -1195,7 +1200,7 @@ void MapsManager::publishMaps(
// create the grid map
float xMin=0.0f, yMin=0.0f, gridCellSize = 0.05f;
cv::Mat pixels = this->getGridMap(poses, xMin, yMin, gridCellSize);
cv::Mat pixels = this->getGridMap(xMin, yMin, gridCellSize);
if(!pixels.empty())
{
@@ -1244,7 +1249,6 @@ void MapsManager::publishMaps(
}
cv::Mat MapsManager::getGridMap(
const std::map<int, rtabmap::Transform> & poses,
float & xMin,
float & yMin,
float & gridCellSize)