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Updated RGBDImage msg with depth camera info, also made changes so that RGBDImage can be used also to sync stereo images.

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This commit is contained in:
matlabbe
2018-02-13 21:35:15 -05:00
parent 6b14693a95
commit 438fad643c
24 changed files with 384 additions and 209 deletions
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src/MapsManager.cpp
+6 -9
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@@ -69,8 +69,7 @@ MapsManager::MapsManager() :
assembledGround_(new pcl::PointCloud<pcl::PointXYZRGB>),
occupancyGrid_(new OccupancyGrid),
octomap_(0),
octomapTreeDepth_(16),
octomapOccupancyThr_(0.5)
octomapTreeDepth_(16)
{
}
@@ -107,9 +106,7 @@ void MapsManager::init(ros::NodeHandle & nh, ros::NodeHandle & pnh, const std::s
#ifdef WITH_OCTOMAP_ROS
#ifdef RTABMAP_OCTOMAP
pnh.param("octomap_occupancy_thr", octomapOccupancyThr_, octomapOccupancyThr_);
UASSERT(octomapOccupancyThr_>=0.0 && octomapOccupancyThr_<=1.0);
octomap_ = new OctoMap(occupancyGrid_->getCellSize(), octomapOccupancyThr_, occupancyGrid_->isFullUpdate(), occupancyGrid_->getUpdateError());
octomap_ = new OctoMap(occupancyGrid_->getCellSize(), 0.5, occupancyGrid_->isFullUpdate(), occupancyGrid_->getUpdateError());
pnh.param("octomap_tree_depth", octomapTreeDepth_, octomapTreeDepth_);
if(octomapTreeDepth_ > 16)
{
@@ -122,7 +119,6 @@ void MapsManager::init(ros::NodeHandle & nh, ros::NodeHandle & pnh, const std::s
octomapTreeDepth_ = 16;
}
ROS_INFO("%s(maps): octomap_tree_depth = %d", name.c_str(), octomapTreeDepth_);
ROS_INFO("%s(maps): octomap_occupancy_thr = %f", name.c_str(), octomapOccupancyThr_);
#endif
#endif
@@ -242,8 +238,8 @@ void MapsManager::backwardCompatibilityParameters(ros::NodeHandle & pnh, Paramet
// moved
parameterMoved(pnh, "cloud_decimation", Parameters::kGridDepthDecimation(), parameters);
parameterMoved(pnh, "cloud_max_depth", Parameters::kGridDepthMax(), parameters);
parameterMoved(pnh, "cloud_min_depth", Parameters::kGridDepthMin(), parameters);
parameterMoved(pnh, "cloud_max_depth", Parameters::kGridRangeMax(), parameters);
parameterMoved(pnh, "cloud_min_depth", Parameters::kGridRangeMin(), parameters);
parameterMoved(pnh, "cloud_voxel_size", Parameters::kGridCellSize(), parameters);
parameterMoved(pnh, "cloud_floor_culling_height", Parameters::kGridMaxGroundHeight(), parameters);
parameterMoved(pnh, "cloud_ceiling_culling_height", Parameters::kGridMaxObstacleHeight(), parameters);
@@ -270,6 +266,7 @@ void MapsManager::backwardCompatibilityParameters(ros::NodeHandle & pnh, Paramet
#ifdef WITH_OCTOMAP_ROS
#ifdef RTABMAP_OCTOMAP
parameterMoved(pnh, "octomap_ground_is_obstacle", Parameters::kGridGroundIsObstacle(), parameters);
parameterMoved(pnh, "octomap_occupancy_thr", Parameters::kGridGlobalOctoMapOccupancyThr(), parameters);
#endif
#endif
}
@@ -286,7 +283,7 @@ void MapsManager::setParameters(const rtabmap::ParametersMap & parameters)
delete octomap_;
octomap_ = 0;
}
octomap_ = new OctoMap(occupancyGrid_->getCellSize(), octomapOccupancyThr_, occupancyGrid_->isFullUpdate(), occupancyGrid_->getUpdateError());
octomap_ = new OctoMap(parameters_);
#endif
#endif
}