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updated for rtabmap 0.9.0

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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/rviz/MapCloudDisplay.cpp
+6 -4
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@@ -50,6 +50,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "MapCloudDisplay.h"
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/util3d_transforms.h>
#include <rtabmap/core/util3d_filtering.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/Compression.h>
#include <rtabmap/core/Graph.h>
@@ -282,19 +284,19 @@ void MapCloudDisplay::processMapData(const rtabmap_ros::MapData& map)
}
if(cloud_max_depth_->getFloat() > 0.0f)
{
cloud = rtabmap::util3d::passThrough<pcl::PointXYZRGB>(cloud, "z", 0, cloud_max_depth_->getFloat());
cloud = rtabmap::util3d::passThrough(cloud, "z", 0, cloud_max_depth_->getFloat());
}
if(cloud_voxel_size_->getFloat() > 0.0f)
{
cloud = rtabmap::util3d::voxelize<pcl::PointXYZRGB>(cloud, cloud_voxel_size_->getFloat());
cloud = rtabmap::util3d::voxelize(cloud, cloud_voxel_size_->getFloat());
}
cloud = rtabmap::util3d::transformPointCloud<pcl::PointXYZRGB>(cloud, localTransform);
cloud = rtabmap::util3d::transformPointCloud(cloud, localTransform);
// do it after local transform
if(cloud_filter_floor_height_->getFloat() > 0.0f)
{
cloud = rtabmap::util3d::passThrough<pcl::PointXYZRGB>(cloud, "z", cloud_filter_floor_height_->getFloat(), 999.0f);
cloud = rtabmap::util3d::passThrough(cloud, "z", cloud_filter_floor_height_->getFloat(), 999.0f);
}
sensor_msgs::PointCloud2::Ptr cloudMsg(new sensor_msgs::PointCloud2);