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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);