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0.11.10: Updated LaserScanInfo interface. Updated NodeData msg with occupancy grids and laser scan local transform. MapsManager is now using directly the occupancy grids saved in nodes for 3D cloud, octomap and grid map.

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matlabbe
2016-08-31 12:45:54 -04:00
parent 7e8738685c
commit 2f6f874542
13 changed files with 800 additions and 912 deletions
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msg/NodeData.msg
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@@ -33,11 +33,19 @@ geometry_msgs/Transform[] localTransform
uint8[] laserScan
int32 laserScanMaxPts
float32 laserScanMaxRange
geometry_msgs/Transform laserScanLocalTransform
# compressed user data
# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
uint8[] userData
# compressed occupancy grid
# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
uint8[] grid_ground
uint8[] grid_obstacles
float32 grid_cell_size
Point3f grid_view_point
# std::multimap<wordId, cv::Keypoint>
# std::multimap<wordId, pcl::PointXYZ>
int32[] wordIds