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Updated to RTAB-Map 0.10.7. For rtabmap node: Added cloud_floor_culling_height (double) and cloud_frustum_culling (bool)

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matlabbe
2015-09-17 22:58:29 -04:00
parent 01e73256c4
commit 96b7ba1f88
8 changed files with 126 additions and 12 deletions
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src/MapsManager.h
+3
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@@ -68,7 +68,9 @@ private:
int cloudDecimation_;
double cloudMaxDepth_;
double cloudVoxelSize_;
double cloudFloorCullingHeight_;
bool cloudOutputVoxelized_;
bool cloudFrustumCulling_;
double projMaxGroundAngle_;
int projMinClusterSize_;
double projMaxHeight_;
@@ -85,6 +87,7 @@ private:
ros::Publisher gridMapPub_;
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > clouds_;
std::map<int, std::vector<rtabmap::CameraModel> > cameraModels_;
std::map<int, std::pair<cv::Mat, cv::Mat> > projMaps_; // <ground, obstacles>
std::map<int, std::pair<cv::Mat, cv::Mat> > gridMaps_; // <ground, obstacles>
};