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Updated cloud/scan conversion to include intensity if there is

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matlabbe
2019-02-06 18:45:29 -05:00
parent 3c01661e07
commit 28f640997c
4 changed files with 131 additions and 151 deletions
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include/rtabmap_ros/MsgConversion.h
+7 -6
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@@ -214,20 +214,21 @@ bool convertScanMsg(
const std::string & frameId,
const std::string & odomFrameId,
const ros::Time & odomStamp,
cv::Mat & scan,
rtabmap::Transform & scanLocalTransform,
rtabmap::LaserScan & scan,
tf::TransformListener & listener,
double waitForTransform);
double waitForTransform,
bool outputInFrameId = false);
bool convertScan3dMsg(
const sensor_msgs::PointCloud2ConstPtr & scan3dMsg,
const std::string & frameId,
const std::string & odomFrameId,
const ros::Time & odomStamp,
cv::Mat & scan,
rtabmap::Transform & scanLocalTransform,
rtabmap::LaserScan & scan,
tf::TransformListener & listener,
double waitForTransform);
double waitForTransform,
int maxPoints = 0,
float maxRange = 0.0f);
}