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0.11.4: updated with API changes

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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;
}