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rtabmap: added "scan_cloud_max_points" parameter

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matlabbe
2016-05-20 10:10:02 -04:00
parent d08a87c38b
commit 1b81b87ea6
2 changed files with 5 additions and 2 deletions
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src/CoreWrapper.cpp
+4 -2
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@@ -91,6 +91,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart, const ParametersMap & parameters)
genScan_(false), genScan_(false),
genScanMaxDepth_(4.0), genScanMaxDepth_(4.0),
genScanMinDepth_(0.0), genScanMinDepth_(0.0),
scanCloudMaxPoints_(0),
mapToOdom_(rtabmap::Transform::getIdentity()), mapToOdom_(rtabmap::Transform::getIdentity()),
mapsManager_(true), mapsManager_(true),
depthSync_(0), depthSync_(0),
@@ -173,6 +174,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart, const ParametersMap & parameters)
pnh.param("gen_scan", genScan_, genScan_); pnh.param("gen_scan", genScan_, genScan_);
pnh.param("gen_scan_max_depth", genScanMaxDepth_, genScanMaxDepth_); pnh.param("gen_scan_max_depth", genScanMaxDepth_, genScanMaxDepth_);
pnh.param("gen_scan_min_depth", genScanMinDepth_, genScanMinDepth_); pnh.param("gen_scan_min_depth", genScanMinDepth_, genScanMinDepth_);
pnh.param("scan_cloud_max_points", scanCloudMaxPoints_, scanCloudMaxPoints_);
if(!tfPrefix.empty()) if(!tfPrefix.empty())
{ {
@@ -971,7 +973,7 @@ void CoreWrapper::commonDepthCallback(
} }
SensorData data(scan, 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), scan2dMsg.get() != 0?scan2dMsg->range_max:(genScan_?genScanMaxDepth_:0.0f),
rgb, rgb,
depth, depth,
@@ -1123,7 +1125,7 @@ void CoreWrapper::commonStereoCallback(
} }
SensorData data(scan, 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, scan2dMsg.get() != 0?scan2dMsg->range_max:0,
ptrLeftImage->image, ptrLeftImage->image,
ptrRightImage->image, ptrRightImage->image,
src/CoreWrapper.h
+1
View File
@@ -276,6 +276,7 @@ private:
bool genScan_; bool genScan_;
double genScanMaxDepth_; double genScanMaxDepth_;
double genScanMinDepth_; double genScanMinDepth_;
int scanCloudMaxPoints_;
rtabmap::Transform mapToOdom_; rtabmap::Transform mapToOdom_;
boost::mutex mapToOdomMutex_; boost::mutex mapToOdomMutex_;