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0.17.0: saving optimized poses and last localization pose to database (https://github.com/introlab/rtabmap_ros/issues/220). Parameters: fixed Icp default parameters when not built with libpointmatcher, added RGBD/SavedLocalizationIgnored (default false). DbViewer: added Export/Import 2D map (https://github.com/introlab/rtabmap_ros/issues/213).

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matlabbe
2018-04-04 19:14:13 -04:00
parent 34b32f53f6
commit 592b7c66c5
25 changed files with 756 additions and 183 deletions
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corelib/include/rtabmap/core/OccupancyGrid.h
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@@ -42,6 +42,7 @@ class RTABMAP_EXP OccupancyGrid
public:
OccupancyGrid(const ParametersMap & parameters = ParametersMap());
void parseParameters(const ParametersMap & parameters);
void setMap(const cv::Mat & map, float xMin, float yMin, float cellSize, const std::map<int, Transform> & poses);
void setCellSize(float cellSize);
float getCellSize() const {return cellSize_;}
void setCloudAssembling(bool enabled);