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CoreWrapper.cpp: Moved map generation stuff in MapsManager class (that reduces a little the memory used for the compilation of CoreWrapper.cpp).

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Mathieu Labbe
2015-05-14 02:16:19 -04:00
parent 550655c887
commit 927c80d356
5 changed files with 739 additions and 647 deletions
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src/CoreWrapper.h
+3 -42
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@@ -36,8 +36,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <tf/transform_listener.h>
#include <tf2_ros/transform_broadcaster.h>
#include <cv_bridge/cv_bridge.h>
#include <std_msgs/Empty.h>
#include <std_msgs/Int32.h>
#include <sensor_msgs/PointCloud2.h>
@@ -47,7 +45,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <nav_msgs/Odometry.h>
#include <nav_msgs/GetMap.h>
#include <rtabmap/core/Statistics.h>
#include <rtabmap/core/Parameters.h>
#include <rtabmap/core/Rtabmap.h>
@@ -57,6 +54,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap_ros/SetGoal.h"
#include "rtabmap_ros/SetLabel.h"
#include "MapsManager.h"
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
@@ -65,9 +64,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <image_transport/image_transport.h>
#include <image_transport/subscriber_filter.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#ifdef WITH_OCTOMAP
#include <octomap_msgs/GetOctomap.h>
#endif
@@ -80,10 +76,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <actionlib_msgs/GoalStatusArray.h>
typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;
namespace octomap{
class OcTree;
}
class CoreWrapper
{
public:
@@ -207,24 +199,13 @@ private:
void publishLoop(double tfDelay);
std::map<int, rtabmap::Transform> updateMapCaches(const std::map<int, rtabmap::Transform> & poses,
bool updateCloud,
bool updateProj,
bool updateGrid,
const std::map<int, rtabmap::Signature> & signatures = std::map<int, rtabmap::Signature>());
void publishStats(const ros::Time & stamp);
void publishMaps(const std::map<int, rtabmap::Transform> & poses, const ros::Time & stamp);
void publishCurrentGoal(const ros::Time & stamp);
void goalDoneCb(const actionlib::SimpleClientGoalState& state, const move_base_msgs::MoveBaseResultConstPtr& result);
void goalActiveCb();
void goalFeedbackCb(const move_base_msgs::MoveBaseFeedbackConstPtr& feedback);
void publishLocalPath(const ros::Time & stamp);
#ifdef WITH_OCTOMAP
octomap::OcTree * createOctomap();
#endif
private:
rtabmap::Rtabmap rtabmap_;
bool paused_;
@@ -244,35 +225,15 @@ private:
bool waitForTransform_;
bool useActionForGoal_;
// mapping stuff
int cloudDecimation_;
double cloudMaxDepth_;
double cloudVoxelSize_;
bool cloudOutputVoxelized_;
double projMaxGroundAngle_;
int projMinClusterSize_;
double projMaxHeight_;
double gridCellSize_;
double gridSize_;
bool gridEroded_;
double mapFilterRadius_;
double mapFilterAngle_;
bool mapCacheCleanup_;
rtabmap::Transform mapToOdom_;
boost::mutex mapToOdomMutex_;
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > clouds_;
std::map<int, std::pair<cv::Mat, cv::Mat> > projMaps_; // <ground, obstacles>
std::map<int, std::pair<cv::Mat, cv::Mat> > gridMaps_; // <ground, obstacles>
MapsManager mapsManager_;
ros::Publisher infoPub_;
ros::Publisher mapDataPub_;
ros::Publisher mapGraphPub_;
ros::Publisher labelsPub_;
ros::Publisher cloudMapPub_;
ros::Publisher projMapPub_;
ros::Publisher gridMapPub_;
//Planning stuff
ros::Subscriber goalSub_;