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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/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_;