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Added publishing of laserscan data with data_player
Updated for latest changes of the library (some methods moved from util3d)
rtabmapviz not saving GUI config on ctrl-c
This commit is contained in:
Mathieu Labbe
2015-01-23 11:19:19 -05:00
parent 30e3b94eb0
commit 92c30adad8
13 changed files with 441 additions and 27 deletions
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src/GridMapAssemblerNode.cpp
+4 -2
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@@ -29,6 +29,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap_ros/MapData.h"
#include "rtabmap_ros/MsgConversion.h"
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/Graph.h>
#include <rtabmap/core/Compression.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UStl.h>
#include <nav_msgs/OccupancyGrid.h>
@@ -80,7 +82,7 @@ public:
{
if(!uContains(scans_, msg->nodes[i].id) && msg->nodes[i].laserScan.size())
{
cv::Mat laserScan = util3d::uncompressData(msg->nodes[i].laserScan);
cv::Mat laserScan = rtabmap::uncompressData(msg->nodes[i].laserScan);
scans_.insert(std::make_pair(msg->nodes[i].id, util3d::laserScanToPointCloud(laserScan)));
}
}
@@ -93,7 +95,7 @@ public:
if(filterRadius_ > 0.0 && filterAngle_ > 0.0)
{
poses = util3d::radiusPosesFiltering(poses, filterRadius_, filterAngle_*CV_PI/180.0);
poses = rtabmap::radiusPosesFiltering(poses, filterRadius_, filterAngle_*CV_PI/180.0);
}
if(gridMap_.getNumSubscribers())