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0.13.3: scan2d normal support

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matlabbe
2017-09-09 22:46:37 -04:00
parent b772fce84b
commit 4d0423c538
12 changed files with 259 additions and 44 deletions
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include/rtabmap_ros/CoreWrapper.h
+1
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@@ -199,6 +199,7 @@ private:
double genScanMinDepth_;
int scanCloudMaxPoints_;
int scanCloudNormalK_;
float scanCloudNormalRadius_;
rtabmap::Transform mapToOdom_;
boost::mutex mapToOdomMutex_;
include/rtabmap_ros/MsgConversion.h
+6 -3
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@@ -205,18 +205,21 @@ bool convertScanMsg(
cv::Mat & scan,
rtabmap::Transform & scanLocalTransform,
tf::TransformListener & listener,
double waitForTransform);
double waitForTransform,
int scanCloudNormalK = 0,
float scanCloudNormalRadius = 0.0f);
bool convertScan3dMsg(
const sensor_msgs::PointCloud2ConstPtr & scan3dMsg,
const std::string & frameId,
const std::string & odomFrameId,
const ros::Time & odomStamp,
int scanCloudNormalK,
cv::Mat & scan,
rtabmap::Transform & scanLocalTransform,
tf::TransformListener & listener,
double waitForTransform);
double waitForTransform,
int scanCloudNormalK = 0,
float scanCloudNormalRadius = 0.0f);
}