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ros-pkg: updated with new RTAB-Map stereo features

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1862 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-16 00:17:11 +00:00
parent 2599e3ecfb
commit 8bd2447ca8
10 changed files with 364 additions and 315 deletions
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src/rviz/MapCloudDisplay.cpp
+9 -2
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@@ -308,8 +308,15 @@ void MapCloudDisplay::processMapData(const rtabmap::MapData& map)
if(!image.empty() && !depth.empty() && depthFx > 0.0f && depthFy > 0.0f && depthCx >= 0.0f && depthCy >= 0.0f)
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = util3d::cloudFromDepthRGB(image, depth, depthCx, depthCy, depthFx, depthFy, cloud_decimation_->getInt());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
if(depth.type() == CV_8UC1)
{
cloud = util3d::cloudFromStereoImages(image, depth, depthCx, depthCy, depthFx, depthFy, cloud_decimation_->getInt());
}
else
{
cloud = util3d::cloudFromDepthRGB(image, depth, depthCx, depthCy, depthFx, depthFy, cloud_decimation_->getInt());
}
if(cloud_max_depth_->getFloat() > 0.0f)
{
cloud = util3d::passThrough(cloud, "z", 0, cloud_max_depth_->getFloat());