fixed build bor rtabmap 0.10.1

Author: matlabbe

CMakeLists.txt

@@ -17,7 +17,7 @@ find_package(octomap_ros)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
-find_package(RTABMap 0.10.0 REQUIRED)
+find_package(RTABMap 0.10.1 REQUIRED)
 
 find_package(OpenCV REQUIRED)
 
@@ -49,7 +49,6 @@ add_message_files(
    NodeData.msg
    Link.msg
    OdomInfo.msg
-   UserData.msg
    Point2f.msg
 )
 

cfg/Camera.cfg

@@ -7,8 +7,6 @@ gen = ParameterGenerator()
 
 gen.add("device_id", int_t, 0, "Camera device ID", 0, 0, 7)
 gen.add("frame_rate", double_t, 0, "Frame rate", 15.0, 0.0, 100.0)
-gen.add("width", int_t, 0, "Width", 640, 0, 1920)
-gen.add("height", int_t, 0, "Image height", 480, 0, 1080)
 gen.add("video_or_images_path", str_t, 0, "Video or images directory path", "")
 gen.add("pause", bool_t, 0, "Pause", False)
 

msg/NodeData.msg

@@ -4,7 +4,6 @@ int32 mapId
 int32 weight
 float64 stamp
 string label
-UserData userData
 
 # Pose from odometry not corrected
 geometry_msgs/Pose pose
@@ -31,6 +30,10 @@ geometry_msgs/Transform[] localTransform
 uint8[] laserScan
 int32 laserScanMaxPts
 
+# compressed user data
+# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
+uint8[] userData
+
 # std::multimap<wordId, cv::Keypoint>
 # std::multimap<wordId, pcl::PointXYZ>
 int32[] wordIds

msg/UserData.msg

@@ -258,6 +258,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
 	oldParameterNames.push_back("RGBD/LocalLoopDetectionRadius");
 	oldParameterNames.push_back("RGBD/ToroIterations");
 	oldParameterNames.push_back("Mem/RehearsedNodesKept");
+	oldParameterNames.push_back("Odom/PnPEstimation");
 	for(std::list<std::string>::iterator iter=oldParameterNames.begin(); iter!=oldParameterNames.end(); ++iter)
 	{
 		std::string vStr;
@@ -309,6 +310,12 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
 			{
 				ROS_WARN("Parameter \"RGBD/PlanVirtualLinksMaxDiffID\" doesn't exist anymore.");
 			}
+			else if(iter->compare("RGBD/LocalLoopDetectionMaxDiffID") == 0)
+			{
+				ROS_WARN("Parameter name changed: Odom/PnPEstimation -> %s. Please update your launch file accordingly.",
+						Parameters::kOdomEstimationType().c_str());
+				parameters_.at(Parameters::kOdomEstimationType())= uNumber2Str(1);
+			}
 		}
 	}
 

src/CoreWrapper.cpp

@@ -452,20 +452,25 @@ rtabmap::Signature nodeDataFromROS(const rtabmap_ros::NodeData & msg)
 			msg.stamp,
 			msg.label,
 			transformFromPoseMsg(msg.pose),
-			msg.userData.data,
 			stereoModel.isValid()?
 				rtabmap::SensorData(
 					compressedMatFromBytes(msg.laserScan),
 					msg.laserScanMaxPts,
 					compressedMatFromBytes(msg.image),
 					compressedMatFromBytes(msg.depth),
-					stereoModel):
+					stereoModel,
+					msg.id,
+					msg.stamp,
+					compressedMatFromBytes(msg.userData)):
 				rtabmap::SensorData(
 					compressedMatFromBytes(msg.laserScan),
 					msg.laserScanMaxPts,
 					compressedMatFromBytes(msg.image),
 					compressedMatFromBytes(msg.depth),
-					models));
+					models,
+					msg.id,
+					msg.stamp,
+					compressedMatFromBytes(msg.userData)));
 	s.setWords(words);
 	s.setWords3(words3D);
 	return s;
@@ -478,11 +483,11 @@ void nodeDataToROS(const rtabmap::Signature & signature, rtabmap_ros::NodeData &
 	msg.weight = signature.getWeight();
 	msg.stamp = signature.getStamp();
 	msg.label = signature.getLabel();
-	msg.userData.data = signature.getUserData();
 	transformToPoseMsg(signature.getPose(), msg.pose);
 	compressedMatToBytes(signature.sensorData().imageCompressed(), msg.image);
 	compressedMatToBytes(signature.sensorData().depthOrRightCompressed(), msg.depth);
 	compressedMatToBytes(signature.sensorData().laserScanCompressed(), msg.laserScan);
+	compressedMatToBytes(signature.sensorData().userDataCompressed(), msg.userData);
 	msg.baseline = 0;
 	if(signature.sensorData().cameraModels().size())
 	{