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ros-pkg: MapAssembler, added cloud_max_depth parameter, updated demo rviz config file

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1130 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-02-19 20:25:27 +00:00
parent 47e7bb2e8a
commit 797c9448da
2 changed files with 9 additions and 1 deletions
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rtabmap/launch/demo/demo_robot_mapping_rviz.launch
+2 -1
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@@ -40,7 +40,8 @@
<!-- Map assembler for rviz--> <!-- Map assembler for rviz-->
<node pkg="rtabmap" type="map_assembler" name="map_assembler" output="screen" args=""> <node pkg="rtabmap" type="map_assembler" name="map_assembler" output="screen" args="">
<param name="cloud_decimation" type="int" value="4"/> <param name="cloud_decimation" type="int" value="8"/>
<param name="cloud_max_depth" type="double" value="4"/>
<param name="cloud_voxel_size" type="double" value="0.02"/> <param name="cloud_voxel_size" type="double" value="0.02"/>
<param name="scan_voxel_size" type="double" value="0.01"/> <param name="scan_voxel_size" type="double" value="0.01"/>
</node> </node>
rtabmap/src/MapAssemblerNode.cpp
+7
View File
@@ -42,11 +42,13 @@ class MapAssembler
public: public:
MapAssembler() : MapAssembler() :
cloudDecimation_(4), cloudDecimation_(4),
cloudMaxDepth_(4.0),
cloudVoxelSize_(0.02), cloudVoxelSize_(0.02),
scanVoxelSize_(0.01) scanVoxelSize_(0.01)
{ {
ros::NodeHandle pnh("~"); ros::NodeHandle pnh("~");
pnh.param("cloud_decimation", cloudDecimation_, cloudDecimation_); pnh.param("cloud_decimation", cloudDecimation_, cloudDecimation_);
pnh.param("cloud_max_depth", cloudMaxDepth_, cloudMaxDepth_);
pnh.param("cloud_voxel_size", cloudVoxelSize_, cloudVoxelSize_); pnh.param("cloud_voxel_size", cloudVoxelSize_, cloudVoxelSize_);
pnh.param("scan_voxel_size", scanVoxelSize_, scanVoxelSize_); pnh.param("scan_voxel_size", scanVoxelSize_, scanVoxelSize_);
@@ -104,6 +106,10 @@ public:
{ {
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = util3d::cloudFromDepthRGB(image, depth, depthConstant, cloudDecimation_); pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = util3d::cloudFromDepthRGB(image, depth, depthConstant, cloudDecimation_);
if(cloudMaxDepth_ > 0)
{
cloud = util3d::passThrough(cloud, "z", 0, cloudMaxDepth_);
}
if(cloudVoxelSize_ > 0) if(cloudVoxelSize_ > 0)
{ {
cloud = util3d::voxelize(cloud, cloudVoxelSize_); cloud = util3d::voxelize(cloud, cloudVoxelSize_);
@@ -294,6 +300,7 @@ public:
private: private:
int cloudDecimation_; int cloudDecimation_;
double cloudMaxDepth_;
double cloudVoxelSize_; double cloudVoxelSize_;
double scanVoxelSize_; double scanVoxelSize_;