From 1b81b87ea6c07966a410e874def13abcc5bfcb75 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Fri, 20 May 2016 10:10:02 -0400
Subject: [PATCH] rtabmap: added "scan_cloud_max_points" parameter

---
 src/CoreWrapper.cpp | 6 ++++--
 src/CoreWrapper.h   | 1 +
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/CoreWrapper.cpp b/src/CoreWrapper.cpp
index ed9b1248..ba8f2e57 100644
--- a/src/CoreWrapper.cpp
+++ b/src/CoreWrapper.cpp
@@ -91,6 +91,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart, const ParametersMap & parameters)
 		genScan_(false),
 		genScanMaxDepth_(4.0),
 		genScanMinDepth_(0.0),
+		scanCloudMaxPoints_(0),
 		mapToOdom_(rtabmap::Transform::getIdentity()),
 		mapsManager_(true),
 		depthSync_(0),
@@ -173,6 +174,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart, const ParametersMap & parameters)
 	pnh.param("gen_scan",            genScan_, genScan_);
 	pnh.param("gen_scan_max_depth",  genScanMaxDepth_, genScanMaxDepth_);
 	pnh.param("gen_scan_min_depth",  genScanMinDepth_, genScanMinDepth_);
+	pnh.param("scan_cloud_max_points",  scanCloudMaxPoints_, scanCloudMaxPoints_);
 
 	if(!tfPrefix.empty())
 	{
@@ -971,7 +973,7 @@ void CoreWrapper::commonDepthCallback(
 	}
 
 	SensorData data(scan,
-			scan2dMsg.get() != 0?(int)scan2dMsg->ranges.size():genMaxScanPts,
+			scan2dMsg.get() != 0?(int)scan2dMsg->ranges.size():(genScan_?genMaxScanPts:scan3dMsg.get() != 0?scanCloudMaxPoints_:0),
 			scan2dMsg.get() != 0?scan2dMsg->range_max:(genScan_?genScanMaxDepth_:0.0f),
 			rgb,
 			depth,
@@ -1123,7 +1125,7 @@ void CoreWrapper::commonStereoCallback(
 	}
 
 	SensorData data(scan,
-			scan2dMsg.get() != 0?(int)scan2dMsg->ranges.size():0,
+			scan2dMsg.get() != 0?(int)scan2dMsg->ranges.size():scan3dMsg.get() != 0?scanCloudMaxPoints_:0,
 			scan2dMsg.get() != 0?scan2dMsg->range_max:0,
 			ptrLeftImage->image,
 			ptrRightImage->image,
diff --git a/src/CoreWrapper.h b/src/CoreWrapper.h
index 5c0e03b4..5b04252e 100644
--- a/src/CoreWrapper.h
+++ b/src/CoreWrapper.h
@@ -276,6 +276,7 @@ private:
 	bool genScan_;
 	double genScanMaxDepth_;
 	double genScanMinDepth_;
+	int scanCloudMaxPoints_;
 
 	rtabmap::Transform mapToOdom_;
 	boost::mutex mapToOdomMutex_;