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updated for rtabmap 0.9.0

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This commit is contained in:
Mathieu Labbe
2015-05-13 19:55:18 -04:00
parent 433f9fa3ae
commit 2b46da2773
14 changed files with 66 additions and 50 deletions
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src/nodelets/data_throttle.cpp
+3 -3
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@@ -41,7 +41,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <cv_bridge/cv_bridge.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/util2d.h>
namespace rtabmap_ros
{
@@ -148,7 +148,7 @@ private:
cv_bridge::CvImage out;
out.header = imagePtr->header;
out.encoding = imagePtr->encoding;
out.image = rtabmap::util3d::decimate(imagePtr->image, decimation_);
out.image = rtabmap::util2d::decimate(imagePtr->image, decimation_);
imagePub_.publish(out.toImageMsg());
}
else
@@ -164,7 +164,7 @@ private:
cv_bridge::CvImage out;
out.header = imagePtr->header;
out.encoding = imagePtr->encoding;
out.image = rtabmap::util3d::decimate(imagePtr->image, decimation_);
out.image = rtabmap::util2d::decimate(imagePtr->image, decimation_);
imageDepthPub_.publish(out.toImageMsg());
}
else
src/nodelets/obstacles_detection.cpp
+5 -2
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@@ -56,6 +56,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap_ros/MsgConversion.h>
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util3d_filtering.h"
#include "rtabmap/core/util3d_mapping.h"
#include "rtabmap/core/util3d_transforms.h"
namespace rtabmap_ros
{
@@ -128,11 +131,11 @@ private:
pcl::IndicesPtr ground, obstacles;
if(cloud->size())
{
cloud = rtabmap::util3d::transformPointCloud<pcl::PointXYZ>(cloud, localTransform);
cloud = rtabmap::util3d::transformPointCloud(cloud, localTransform);
if(maxObstaclesHeight_ > 0)
{
cloud = rtabmap::util3d::passThrough<pcl::PointXYZ>(cloud, "z", std::numeric_limits<int>::min(), maxObstaclesHeight_);
cloud = rtabmap::util3d::passThrough(cloud, "z", std::numeric_limits<int>::min(), maxObstaclesHeight_);
}
if(cloud->size())
{
src/nodelets/point_cloud_xyz.cpp
+4 -3
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@@ -52,6 +52,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/highgui/highgui.hpp>
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util3d_filtering.h"
namespace rtabmap_ros
{
@@ -212,12 +213,12 @@ private:
{
if(pclCloud->size() && maxDepth_ > 0)
{
pclCloud = rtabmap::util3d::passThrough<pcl::PointXYZ>(pclCloud, "z", 0, maxDepth_);
pclCloud = rtabmap::util3d::passThrough(pclCloud, "z", 0, maxDepth_);
}
if(pclCloud->size() && noiseFilterRadius_ > 0.0 && noiseFilterMinNeighbors_ > 0)
{
pcl::IndicesPtr indices = rtabmap::util3d::radiusFiltering<pcl::PointXYZ>(pclCloud, noiseFilterRadius_, noiseFilterMinNeighbors_);
pcl::IndicesPtr indices = rtabmap::util3d::radiusFiltering(pclCloud, noiseFilterRadius_, noiseFilterMinNeighbors_);
pcl::PointCloud<pcl::PointXYZ>::Ptr tmp(new pcl::PointCloud<pcl::PointXYZ>);
pcl::copyPointCloud(*pclCloud, *indices, *tmp);
pclCloud = tmp;
@@ -225,7 +226,7 @@ private:
if(pclCloud->size() && voxelSize_ > 0.0)
{
pclCloud = rtabmap::util3d::voxelize<pcl::PointXYZ>(pclCloud, voxelSize_);
pclCloud = rtabmap::util3d::voxelize(pclCloud, voxelSize_);
}
sensor_msgs::PointCloud2 rosCloud;
src/nodelets/point_cloud_xyzrgb.cpp
+4 -3
View File
@@ -52,6 +52,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/highgui/highgui.hpp>
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util3d_filtering.h"
namespace rtabmap_ros
{
@@ -252,12 +253,12 @@ private:
{
if(pclCloud->size() && maxDepth_ > 0)
{
pclCloud = rtabmap::util3d::passThrough<pcl::PointXYZRGB>(pclCloud, "z", 0, maxDepth_);
pclCloud = rtabmap::util3d::passThrough(pclCloud, "z", 0, maxDepth_);
}
if(pclCloud->size() && noiseFilterRadius_ > 0.0 && noiseFilterMinNeighbors_ > 0)
{
pcl::IndicesPtr indices = rtabmap::util3d::radiusFiltering<pcl::PointXYZRGB>(pclCloud, noiseFilterRadius_, noiseFilterMinNeighbors_);
pcl::IndicesPtr indices = rtabmap::util3d::radiusFiltering(pclCloud, noiseFilterRadius_, noiseFilterMinNeighbors_);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr tmp(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::copyPointCloud(*pclCloud, *indices, *tmp);
pclCloud = tmp;
@@ -265,7 +266,7 @@ private:
if(pclCloud->size() && voxelSize_ > 0.0)
{
pclCloud = rtabmap::util3d::voxelize<pcl::PointXYZRGB>(pclCloud, voxelSize_);
pclCloud = rtabmap::util3d::voxelize(pclCloud, voxelSize_);
}
sensor_msgs::PointCloud2 rosCloud;
src/nodelets/stereo_throttle.cpp
+3 -3
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@@ -40,7 +40,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <cv_bridge/cv_bridge.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/util2d.h>
namespace rtabmap_ros
{
@@ -146,7 +146,7 @@ private:
cv_bridge::CvImage out;
out.header = imagePtr->header;
out.encoding = imagePtr->encoding;
out.image = rtabmap::util3d::decimate(imagePtr->image, decimation_);
out.image = rtabmap::util2d::decimate(imagePtr->image, decimation_);
imageLeftPub_.publish(out.toImageMsg());
}
else
@@ -162,7 +162,7 @@ private:
cv_bridge::CvImage out;
out.header = imagePtr->header;
out.encoding = imagePtr->encoding;
out.image = rtabmap::util3d::decimate(imagePtr->image, decimation_);
out.image = rtabmap::util2d::decimate(imagePtr->image, decimation_);
imageRightPub_.publish(out.toImageMsg());
}
else