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MapsManager: added "cloud_subtract_filtering" and "cloud_subtract_filtering_min_neighbors" parameters

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matlabbe
2016-08-31 12:45:54 -04:00
parent 2f6f874542
commit 7323e58e8d
3 changed files with 251 additions and 12 deletions
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src/CoreWrapper.cpp
+6 -6
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@@ -242,7 +242,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart, const ParametersMap & parameters)
depthCameras = 1;
}
ROS_INFO("rtabmap: frame_id = %s", frameId_.c_str());
ROS_INFO("rtabmap: frame_id = %s", frameId_.c_str());
if(!odomFrameId_.empty())
{
ROS_INFO("rtabmap: odom_frame_id = %s", odomFrameId_.c_str());
@@ -253,12 +253,12 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart, const ParametersMap & parameters)
groundTruthFrameId_.c_str(),
groundTruthBaseFrameId_.c_str());
}
ROS_INFO("rtabmap: map_frame_id = %s", mapFrameId_.c_str());
ROS_INFO("rtabmap: queue_size = %d", queueSize);
ROS_INFO("rtabmap: tf_delay = %f", tfDelay);
ROS_INFO("rtabmap: tf_tolerance = %f", tfTolerance);
ROS_INFO("rtabmap: map_frame_id = %s", mapFrameId_.c_str());
ROS_INFO("rtabmap: queue_size = %d", queueSize);
ROS_INFO("rtabmap: tf_delay = %f", tfDelay);
ROS_INFO("rtabmap: tf_tolerance = %f", tfTolerance);
ROS_INFO("rtabmap: depth_cameras = %d", depthCameras);
ROS_INFO("rtabmap: approx_sync = %s", approxSync?"true":"false");
ROS_INFO("rtabmap: approx_sync = %s", approxSync?"true":"false");
infoPub_ = nh.advertise<rtabmap_ros::Info>("info", 1);
mapDataPub_ = nh.advertise<rtabmap_ros::MapData>("mapData", 1);