i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added planner node

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/rviz/MapCloudDisplay.cpp
+5 -3
View File
@@ -51,6 +51,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "MapCloudDisplay.h"
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/Compression.h>
#include <rtabmap/core/Graph.h>
#include <rtabmap_ros/MsgConversion.h>
#include <rtabmap_ros/GetMap.h>
@@ -258,8 +260,8 @@ void MapCloudDisplay::processMapData(const rtabmap_ros::MapData& map)
float cy = map.nodes[i].cy;
//uncompress data
rtabmap::util3d::CompressionThread ctImage(compressedMatFromBytes(map.nodes[i].image, false), true);
rtabmap::util3d::CompressionThread ctDepth(compressedMatFromBytes(map.nodes[i].depth, false), true);
rtabmap::CompressionThread ctImage(compressedMatFromBytes(map.nodes[i].image, false), true);
rtabmap::CompressionThread ctDepth(compressedMatFromBytes(map.nodes[i].depth, false), true);
ctImage.start();
ctDepth.start();
ctImage.join();
@@ -323,7 +325,7 @@ void MapCloudDisplay::processMapData(const rtabmap_ros::MapData& map)
if(node_filtering_angle_->getFloat() > 0.0f && node_filtering_radius_->getFloat() > 0.0f)
{
poses = rtabmap::util3d::radiusPosesFiltering(poses,
poses = rtabmap::radiusPosesFiltering(poses,
node_filtering_radius_->getFloat(),
node_filtering_angle_->getFloat()*CV_PI/180.0);
}