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

src/MapsManager.h

@@ -0,0 +1,90 @@
+/*
+ * MapsManager.h
+ *
+ *  Created on: 2015-05-14
+ *      Author: mathieu
+ */
+
+#ifndef MAPSMANAGER_H_
+#define MAPSMANAGER_H_
+
+#include <rtabmap/core/Signature.h>
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+#include <ros/time.h>
+#include <ros/publisher.h>
+
+namespace octomap{
+class OcTree;
+}
+
+namespace rtabmap {
+
+class Memory;
+
+}  // namespace rtabmap
+
+class MapsManager {
+public:
+	MapsManager();
+	virtual ~MapsManager();
+	void clear();
+
+	std::map<int, rtabmap::Transform> getFilteredPoses(
+			const std::map<int, rtabmap::Transform> & poses);
+
+	std::map<int, rtabmap::Transform> updateMapCaches(
+			const std::map<int, rtabmap::Transform> & poses,
+			const rtabmap::Memory * memory,
+			bool updateCloud,
+			bool updateProj,
+			bool updateGrid,
+			const std::map<int, rtabmap::Signature> & signatures = std::map<int, rtabmap::Signature>());
+
+	void publishMaps(
+			const std::map<int, rtabmap::Transform> & poses,
+			const ros::Time & stamp,
+			const std::string & mapFrameId);
+
+	cv::Mat generateProjMap(
+			const std::map<int, rtabmap::Transform> & filteredPoses,
+			float & xMin,
+			float & yMin,
+			float & gridCellSize);
+
+	cv::Mat generateGridMap(
+			const std::map<int, rtabmap::Transform> & filteredPoses,
+			float & xMin,
+			float & yMin,
+			float & gridCellSize);
+
+#ifdef WITH_OCTOMAP
+	octomap::OcTree * createOctomap(const std::map<int, rtabmap::Transform> & poses);
+#endif
+
+private:
+	// 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_;
+
+	ros::Publisher cloudMapPub_;
+	ros::Publisher projMapPub_;
+	ros::Publisher gridMapPub_;
+
+	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>
+};
+
+#endif /* MAPSMANAGER_H_ */