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Updated for rtabmap 0.10.11

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matlabbe
2015-10-24 16:52:24 -04:00
parent 222937b65a
commit 1cff33e3fa
4 changed files with 10 additions and 3 deletions
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CMakeLists.txt
+1 -1
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@@ -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 0.10.10 REQUIRED)
find_package(RTABMap 0.10.11 REQUIRED)
find_package(OpenCV REQUIRED)
package.xml
+1 -1
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@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package>
<name>rtabmap_ros</name>
<version>0.10.10</version>
<version>0.10.11</version>
<description>RTAB-Map's ros-pkg. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
src/rviz/MapGraphDisplay.cpp
+7 -1
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@@ -52,7 +52,9 @@ namespace rtabmap_ros
MapGraphDisplay::MapGraphDisplay()
{
color_neighbor_property_ = new rviz::ColorProperty( "Neighbor", Qt::blue,
"Color to draw neighbor links.", this );
"Color to draw neighbor links.", this );
color_neighbor_merged_property_ = new rviz::ColorProperty( "Merged neighbor", QColor(255,170,0),
"Color to draw merged neighbor links.", this );
color_global_property_ = new rviz::ColorProperty( "Global loop closure", Qt::red,
"Color to draw global loop closure links.", this );
color_local_property_ = new rviz::ColorProperty( "Local loop closure", Qt::yellow,
@@ -139,6 +141,10 @@ void MapGraphDisplay::processMessage( const rtabmap_ros::MapGraph::ConstPtr& msg
{
color = color_neighbor_property_->getOgreColor();
}
else if(iter->second.type() == rtabmap::Link::kNeighborMerged)
{
color = color_neighbor_merged_property_->getOgreColor();
}
else if(iter->second.type() == rtabmap::Link::kVirtualClosure)
{
color = color_virtual_property_->getOgreColor();
src/rviz/MapGraphDisplay.h
+1
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@@ -76,6 +76,7 @@ private:
std::vector<Ogre::ManualObject*> manual_objects_;
ColorProperty* color_neighbor_property_;
ColorProperty* color_neighbor_merged_property_;
ColorProperty* color_global_property_;
ColorProperty* color_local_property_;
ColorProperty* color_user_property_;