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Updated with new Odometry headers

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This commit is contained in:
matlabbe
2016-01-05 16:44:53 -05:00
parent d8a24687f4
commit ef724530a1
1 changed files with 8 additions and 16 deletions
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src/OdometryROS.cpp
+8 -16
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@@ -37,7 +37,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <cv_bridge/cv_bridge.h> #include <cv_bridge/cv_bridge.h>
#include <rtabmap/core/Rtabmap.h> #include <rtabmap/core/Rtabmap.h>
#include <rtabmap/core/Odometry.h> #include <rtabmap/core/OdometryLocalMap.h>
#include <rtabmap/core/OdometryF2F.h>
#include <rtabmap/core/util3d_transforms.h> #include <rtabmap/core/util3d_transforms.h>
#include <rtabmap/core/Memory.h> #include <rtabmap/core/Memory.h>
#include <rtabmap/core/Signature.h> #include <rtabmap/core/Signature.h>
@@ -214,16 +215,7 @@ OdometryROS::OdometryROS(int argc, char * argv[], bool stereo) :
int odomStrategy = 0; // BOW int odomStrategy = 0; // BOW
Parameters::parse(parameters_, Parameters::kOdomStrategy(), odomStrategy); Parameters::parse(parameters_, Parameters::kOdomStrategy(), odomStrategy);
if(odomStrategy == 1) odometry_ = Odometry::create(parameters_);
{
ROS_INFO("Using OdometryF2F");
odometry_ = new rtabmap::OdometryF2F(parameters_);
}
else
{
ROS_INFO("Using OdometryBOW");
odometry_ = new rtabmap::OdometryBOW(parameters_);
}
if(!initialPose.isIdentity()) if(!initialPose.isIdentity())
{ {
odometry_->reset(initialPose); odometry_->reset(initialPose);
@@ -370,10 +362,10 @@ void OdometryROS::processData(const SensorData & data, const ros::Time & stamp)
} }
// local map / reference frame // local map / reference frame
if(odomLocalMap_.getNumSubscribers() && dynamic_cast<OdometryBOW*>(odometry_)) if(odomLocalMap_.getNumSubscribers() && dynamic_cast<OdometryLocalMap*>(odometry_))
{ {
pcl::PointCloud<pcl::PointXYZ> cloud; pcl::PointCloud<pcl::PointXYZ> cloud;
const std::map<int, cv::Point3f> & map = ((OdometryBOW*)odometry_)->getLocalMap(); const std::map<int, cv::Point3f> & map = ((OdometryLocalMap*)odometry_)->getLocalMap();
for(std::map<int, cv::Point3f>::const_iterator iter=map.begin(); iter!=map.end(); ++iter) for(std::map<int, cv::Point3f>::const_iterator iter=map.begin(); iter!=map.end(); ++iter)
{ {
cloud.push_back(pcl::PointXYZ(iter->second.y, iter->second.y, iter->second.z)); cloud.push_back(pcl::PointXYZ(iter->second.y, iter->second.y, iter->second.z));
@@ -387,9 +379,9 @@ void OdometryROS::processData(const SensorData & data, const ros::Time & stamp)
if(odomLastFrame_.getNumSubscribers()) if(odomLastFrame_.getNumSubscribers())
{ {
if(dynamic_cast<OdometryBOW*>(odometry_)) if(dynamic_cast<OdometryLocalMap*>(odometry_))
{ {
const rtabmap::Signature * s = ((OdometryBOW*)odometry_)->getMemory()->getLastWorkingSignature(); const rtabmap::Signature * s = ((OdometryLocalMap*)odometry_)->getMemory()->getLastWorkingSignature();
if(s) if(s)
{ {
const std::multimap<int, cv::Point3f> & words3 = s->getWords3(); const std::multimap<int, cv::Point3f> & words3 = s->getWords3();
@@ -458,7 +450,7 @@ void OdometryROS::processData(const SensorData & data, const ros::Time & stamp)
bool OdometryROS::isOdometryBOW() const bool OdometryROS::isOdometryBOW() const
{ {
return dynamic_cast<OdometryBOW*>(odometry_) != 0; return dynamic_cast<OdometryLocalMap*>(odometry_) != 0;
} }
bool OdometryROS::reset(std_srvs::Empty::Request&, std_srvs::Empty::Response&) bool OdometryROS::reset(std_srvs::Empty::Request&, std_srvs::Empty::Response&)