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Keeping highest odometry variance between two rtabmap updates. Fixed map id increment on odometry reset (identity pose was missed because of the high rate of odometry).

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Mathieu Labbe
2014-12-18 16:58:23 -05:00
parent acaf49bb1e
commit b62a3e3a6c
3 changed files with 56 additions and 45 deletions
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src/CoreWrapper.h
+4
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@@ -70,6 +70,8 @@ public:
private:
void setupCallbacks(bool subscribeDepth, bool subscribeLaserScan, bool subscribeStereo, int queueSize, bool stereoApproxSync);
void defaultCallback(const sensor_msgs::ImageConstPtr & imageMsg); // no odom
bool commonMetricCallbackBegin(const nav_msgs::OdometryConstPtr & odomMsg);
void depthCallback(const sensor_msgs::ImageConstPtr& imageMsg,
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::ImageConstPtr& imageDepthMsg,
@@ -125,6 +127,8 @@ private:
private:
rtabmap::Rtabmap rtabmap_;
bool paused_;
rtabmap::Transform lastPose_;
float _variance;
std::string frameId_;
std::string mapFrameId_;