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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/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_);