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Added support for parameter GridGlobal/AltitudeDelta

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matlabbe
2021-02-21 13:04:08 -05:00
parent 8f3399626a
commit 287d7382bc
2 changed files with 64 additions and 49 deletions
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include/rtabmap_ros/CoreWrapper.h
+5 -1
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@@ -184,6 +184,9 @@ private:
const cv::Mat & odomCovariance = cv::Mat::eye(6,6,CV_64FC1),
const rtabmap::OdometryInfo & odomInfo = rtabmap::OdometryInfo(),
double timeMsgConversion = 0.0);
std::map<int, rtabmap::Transform> filterNodesToAssemble(
const std::map<int, rtabmap::Transform> & nodes,
const rtabmap::Transform & currentPose);
bool updateRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool resetRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
@@ -366,7 +369,8 @@ private:
bool odomSensorSync_;
float rate_;
bool createIntermediateNodes_;
int maxMappingNodes_;
int mappingMaxNodes_;
double mappingAltitudeDelta_;
bool alreadyRectifiedImages_;
bool twoDMapping_;
ros::Time previousStamp_;