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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/rviz/MapCloudDisplay.cpp
+4
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@@ -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);