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0.11.4: updated with API changes

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This commit is contained in:
matlabbe
2016-04-12 15:18:29 -04:00
parent 04b87e1e15
commit 63de9018df
7 changed files with 37 additions and 4 deletions
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src/CoreWrapper.cpp
+3
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@@ -89,6 +89,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart, const ParametersMap & parameters)
useActionForGoal_(false),
genScan_(false),
genScanMaxDepth_(4.0),
genScanMinDepth_(0.0),
mapToOdom_(rtabmap::Transform::getIdentity()),
mapsManager_(true),
depthSync_(0),
@@ -170,6 +171,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart, const ParametersMap & parameters)
pnh.param("use_action_for_goal", useActionForGoal_, useActionForGoal_);
pnh.param("gen_scan", genScan_, genScan_);
pnh.param("gen_scan_max_depth", genScanMaxDepth_, genScanMaxDepth_);
pnh.param("gen_scan_min_depth", genScanMinDepth_, genScanMinDepth_);
if(!tfPrefix.empty())
{
@@ -900,6 +902,7 @@ void CoreWrapper::commonDepthCallback(
cameraModels.back().cx(),
cameraModels.back().cy(),
genScanMaxDepth_,
genScanMinDepth_,
localTransform);
genMaxScanPts += subDepth.cols;
}
src/CoreWrapper.h
+1
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@@ -275,6 +275,7 @@ private:
bool useActionForGoal_;
bool genScan_;
double genScanMaxDepth_;
double genScanMinDepth_;
rtabmap::Transform mapToOdom_;
boost::mutex mapToOdomMutex_;
src/MapsManager.cpp
+16 -2
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@@ -32,6 +32,7 @@ using namespace rtabmap;
MapsManager::MapsManager(bool usePublicNamespace) :
cloudDecimation_(4),
cloudMaxDepth_(4.0), // meters
cloudMinDepth_(0.0), // meters
cloudVoxelSize_(0.05), // meters
cloudFloorCullingHeight_(0.0),
cloudCeilingCullingHeight_(0.0),
@@ -62,6 +63,7 @@ MapsManager::MapsManager(bool usePublicNamespace) :
// cloud map stuff
pnh.param("cloud_decimation", cloudDecimation_, cloudDecimation_);
pnh.param("cloud_max_depth", cloudMaxDepth_, cloudMaxDepth_);
pnh.param("cloud_min_depth", cloudMinDepth_, cloudMinDepth_);
pnh.param("cloud_voxel_size", cloudVoxelSize_, cloudVoxelSize_);
pnh.param("cloud_floor_culling_height", cloudFloorCullingHeight_, cloudFloorCullingHeight_);
pnh.param("cloud_ceiling_culling_height", cloudCeilingCullingHeight_, cloudCeilingCullingHeight_);
@@ -268,11 +270,17 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
{
if(!image.empty() && !depth.empty())
{
pcl::IndicesPtr validIndices(new std::vector<int>);
cloudRGB = util3d::cloudRGBFromSensorData(
data,
cloudDecimation_,
cloudMaxDepth_,
cloudVoxelSize_);
cloudMinDepth_,
validIndices.get());
if(cloudVoxelSize_)
{
cloudRGB = util3d::voxelize(cloudRGB, validIndices, cloudVoxelSize_);
}
if(cloudRGB->size() && cloudNoiseFilteringRadius_ > 0.0 && cloudNoiseFilteringMinNeighbors_ > 0)
{
pcl::IndicesPtr indices = rtabmap::util3d::radiusFiltering(cloudRGB, cloudNoiseFilteringRadius_, cloudNoiseFilteringMinNeighbors_);
@@ -290,11 +298,17 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
{
if( !depth.empty())
{
pcl::IndicesPtr validIndices(new std::vector<int>);
cloudXYZ = util3d::cloudFromSensorData(
data,
cloudDecimation_,
cloudMaxDepth_,
gridCellSize_); // use gridCellSize since this cloud is only for the projection map
cloudMinDepth_,
validIndices.get()); // use gridCellSize since this cloud is only for the projection map
if(gridCellSize_)
{
cloudXYZ = util3d::voxelize(cloudXYZ, validIndices, gridCellSize_);
}
if(cloudXYZ->size() && cloudNoiseFilteringRadius_ > 0.0 && cloudNoiseFilteringMinNeighbors_ > 0)
{
pcl::IndicesPtr indices = rtabmap::util3d::radiusFiltering(cloudXYZ, cloudNoiseFilteringRadius_, cloudNoiseFilteringMinNeighbors_);
src/MapsManager.h
+1
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@@ -68,6 +68,7 @@ private:
// mapping stuff
int cloudDecimation_;
double cloudMaxDepth_;
double cloudMinDepth_;
double cloudVoxelSize_;
double cloudFloorCullingHeight_;
double cloudCeilingCullingHeight_;
src/rviz/MapCloudDisplay.cpp
+14 -1
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@@ -143,6 +143,12 @@ MapCloudDisplay::MapCloudDisplay()
cloud_max_depth_->setMin( 0.0f );
cloud_max_depth_->setMax( 999.0f );
cloud_min_depth_ = new rviz::FloatProperty( "Cloud min depth (m)", 0.0f,
"Minimum depth of the generated clouds.",
this, SLOT( updateCloudParameters() ), this );
cloud_min_depth_->setMin( 0.0f );
cloud_min_depth_->setMax( 999.0f );
cloud_voxel_size_ = new rviz::FloatProperty( "Cloud voxel size (m)", 0.01f,
"Voxel size of the generated clouds.",
this, SLOT( updateCloudParameters() ), this );
@@ -282,11 +288,18 @@ void MapCloudDisplay::processMapData(const rtabmap_ros::MapData& map)
if(!s.sensorData().imageRaw().empty() && !s.sensorData().depthOrRightRaw().empty())
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
pcl::IndicesPtr validIndices(new std::vector<int>);
cloud = rtabmap::util3d::cloudRGBFromSensorData(
s.sensorData(),
cloud_decimation_->getInt(),
cloud_max_depth_->getFloat(),
cloud_voxel_size_->getFloat());
cloud_min_depth_->getFloat(),
validIndices.get());
if(cloud_voxel_size_->getFloat())
{
cloud = rtabmap::util3d::voxelize(cloud, validIndices, cloud_voxel_size_->getFloat());
}
if(cloud->size())
{
src/rviz/MapCloudDisplay.h
+1
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@@ -106,6 +106,7 @@ public:
rviz::EnumProperty* style_property_;
rviz::IntProperty* cloud_decimation_;
rviz::FloatProperty* cloud_max_depth_;
rviz::FloatProperty* cloud_min_depth_;
rviz::FloatProperty* cloud_voxel_size_;
rviz::FloatProperty* cloud_filter_floor_height_;
rviz::FloatProperty* cloud_filter_ceiling_height_;