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added default color for ground/obstacle map clouds

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matlabbe
2016-10-05 18:13:03 -04:00
parent 835cfbc131
commit 40aef97ea3
1 changed files with 2 additions and 2 deletions
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src/MapsManager.cpp
+2 -2
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@@ -827,7 +827,7 @@ void MapsManager::publishMaps(
assembledGroundPoses_.insert(*iter); assembledGroundPoses_.insert(*iter);
if(jter!=gridMaps_.end() && jter->second.first.cols) if(jter!=gridMaps_.end() && jter->second.first.cols)
{ {
pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformed = util3d::laserScanToPointCloudRGB(jter->second.first, iter->second); pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformed = util3d::laserScanToPointCloudRGB(jter->second.first, iter->second, 0, 255, 0);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr subtractedCloud = transformed; pcl::PointCloud<pcl::PointXYZRGB>::Ptr subtractedCloud = transformed;
if(cloudSubtractFiltering_) if(cloudSubtractFiltering_)
{ {
@@ -868,7 +868,7 @@ void MapsManager::publishMaps(
assembledObstaclePoses_.insert(*iter); assembledObstaclePoses_.insert(*iter);
if(jter!=gridMaps_.end() && jter->second.second.cols) if(jter!=gridMaps_.end() && jter->second.second.cols)
{ {
pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformed = util3d::laserScanToPointCloudRGB(jter->second.second, iter->second); pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformed = util3d::laserScanToPointCloudRGB(jter->second.second, iter->second, 255, 0, 0);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr subtractedCloud = transformed; pcl::PointCloud<pcl::PointXYZRGB>::Ptr subtractedCloud = transformed;
if(cloudSubtractFiltering_) if(cloudSubtractFiltering_)
{ {