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Added get_node_data service

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matlabbe
2020-05-05 13:25:45 -04:00
parent b2cb41cca8
commit d43bc7697a
5 changed files with 44 additions and 4 deletions
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src/MapsManager.cpp
+3 -3
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@@ -349,7 +349,7 @@ void MapsManager::set2DMap(
if(!uContains(gridMaps_, iter->first))
{
rtabmap::SensorData data;
data = memory->getSignatureDataConst(iter->first, false, false, false, true);
data = memory->getNodeData(iter->first, false, false, false, true);
if(data.gridCellSize() == 0.0f)
{
ROS_WARN("Local occupancy grid doesn't exist for node %d", iter->first);
@@ -558,7 +558,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
}
else if(memory)
{
data = memory->getSignatureDataConst(iter->first, occupancyGrid_->isGridFromDepth() && !occupancySavedInDB, !occupancyGrid_->isGridFromDepth() && !occupancySavedInDB, false, true);
data = memory->getNodeData(iter->first, occupancyGrid_->isGridFromDepth() && !occupancySavedInDB, !occupancyGrid_->isGridFromDepth() && !occupancySavedInDB, false, true);
}
UDEBUG("Adding grid map %d to cache...", iter->first);
@@ -587,7 +587,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
{
// if we are here, it is because we loaded a database with old nodes not having occupancy grid set
// try reload again
data = memory->getSignatureDataConst(iter->first, occupancyGrid_->isGridFromDepth(), !occupancyGrid_->isGridFromDepth(), false, false);
data = memory->getNodeData(iter->first, occupancyGrid_->isGridFromDepth(), !occupancyGrid_->isGridFromDepth(), false, false);
}
data.uncompressData(
occupancyGrid_->isGridFromDepth() && generateGrid?&rgb:0,