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Added "scan_cloud" topic (PointCloud2 type) with "subscribe_scan_cloud" parameter to rtabmap and rtabmapviz nodes.

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matlabbe
2015-11-26 16:06:42 -05:00
parent 8a76f98810
commit 27d40dee2b
6 changed files with 603 additions and 97 deletions
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src/MapsManager.h
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@@ -74,6 +74,7 @@ private:
bool cloudFrustumCulling_;
double cloudNoiseFilteringRadius_;
int cloudNoiseFilteringMinNeighbors_;
int scanDecimation_;
double scanVoxelSize_;
bool scanOutputVoxelized_;
double projMaxGroundAngle_;