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RVIZ plugin: added cloud decimation/max depth/voxel size properties, added downloadMap property to call rtabmap/GetMap service

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1460 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-06 20:36:36 +00:00
parent 4d557e6a50
commit 12966f55ba
2 changed files with 90 additions and 29 deletions
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src/rviz/MapCloudDisplay.h
+8
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@@ -81,6 +81,10 @@ public:
rviz::EnumProperty* xyz_transformer_property_;
rviz::EnumProperty* color_transformer_property_;
rviz::EnumProperty* style_property_;
rviz::IntProperty* cloud_decimation_;
rviz::FloatProperty* cloud_max_depth_;
rviz::FloatProperty* cloud_voxel_size_;
rviz::BoolProperty* download_map_;
public Q_SLOTS:
void causeRetransform();
@@ -93,6 +97,8 @@ private Q_SLOTS:
void updateColorTransformer();
void setXyzTransformerOptions( EnumProperty* prop );
void setColorTransformerOptions( EnumProperty* prop );
void updateCloudParameters();
void downloadMap();
protected:
/** @brief Do initialization. Overridden from MessageFilterDisplay. */
@@ -102,6 +108,8 @@ protected:
virtual void processMessage( const rtabmap::MapDataConstPtr& cloud );
private:
void processMapData(const rtabmap::MapData& map);
/**
* \brief Transforms the cloud into the correct frame, and sets up our renderable cloud
*/