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rtabmap 0.11.12 version now required. MapCloudDisplay: doing z filtering in /odom frame instead of /base_link frame

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matlabbe
2016-11-15 10:39:03 -05:00
parent 8eb164f047
commit 2fd3675440
3 changed files with 6 additions and 2 deletions
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src/MapOptimizerNode.cpp
+1 -1
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@@ -84,7 +84,7 @@ public:
parameters.insert(ParametersPair(Parameters::kOptimizerEpsilon(), uNumber2Str(epsilon)));
parameters.insert(ParametersPair(Parameters::kOptimizerIterations(), uNumber2Str(iterations)));
parameters.insert(ParametersPair(Parameters::kOptimizerRobust(), uBool2Str(robust)));
parameters.insert(ParametersPair(Parameters::kOptimizerSlam2D(), uBool2Str(slam2d)));
parameters.insert(ParametersPair(Parameters::kRegForce3DoF(), uBool2Str(slam2d)));
parameters.insert(ParametersPair(Parameters::kOptimizerVarianceIgnored(), uBool2Str(ignoreVariance)));
optimizer_ = Optimizer::create(parameters);
src/rviz/MapCloudDisplay.cpp
+4
View File
@@ -303,9 +303,13 @@ void MapCloudDisplay::processMapData(const rtabmap_ros::MapData& map)
{
if(cloud_filter_floor_height_->getFloat() > 0.0f || cloud_filter_ceiling_height_->getFloat() > 0.0f)
{
// convert in /odom frame
cloud = rtabmap::util3d::transformPointCloud(cloud, s.getPose());
cloud = rtabmap::util3d::passThrough(cloud, "z",
cloud_filter_floor_height_->getFloat()>0.0f?cloud_filter_floor_height_->getFloat():-999.0f,
cloud_filter_ceiling_height_->getFloat()>0.0f && (cloud_filter_floor_height_->getFloat()<=0.0f || cloud_filter_ceiling_height_->getFloat()>cloud_filter_floor_height_->getFloat())?cloud_filter_ceiling_height_->getFloat():999.0f);
// convert back in /base_link frame
cloud = rtabmap::util3d::transformPointCloud(cloud, s.getPose().inverse());
}
sensor_msgs::PointCloud2::Ptr cloudMsg(new sensor_msgs::PointCloud2);