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Updated for rtabmap 0.10.0 (multi-cameras)

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Mathieu Labbe
2015-05-30 20:08:20 -04:00
parent 2568ff30c2
commit fcd343cdd9
21 changed files with 1309 additions and 1251 deletions
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src/rviz/MapGraphDisplay.cpp
+3 -7
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@@ -95,21 +95,17 @@ void MapGraphDisplay::destroyObjects()
void MapGraphDisplay::processMessage( const rtabmap_ros::MapData::ConstPtr& msg )
{
if(!(msg->graph.mapIds.size() == msg->graph.nodeIds.size() && msg->graph.poses.size() == msg->graph.nodeIds.size()))
if(!(msg->poses.size() == msg->posesId.size()))
{
ROS_ERROR("rtabmap_ros::MapGraph: Error map ids, pose ids and poses must have all the same size.");
ROS_ERROR("rtabmap_ros::MapGraph: Error pose ids and poses must have all the same size.");
return;
}
// Get links
std::map<int, rtabmap::Transform> poses;
std::map<int, int> mapIds;
std::map<int, double> stamps;
std::map<int, std::string> labels;
std::map<int, std::vector<unsigned char> > userDatas;
std::multimap<int, rtabmap::Link> links;
rtabmap::Transform mapToOdom;
rtabmap_ros::mapGraphFromROS(msg->graph, poses, mapIds, stamps, labels, userDatas, links, mapToOdom);
rtabmap_ros::mapDataFromROS(*msg, poses, links, mapToOdom);
destroyObjects();