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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/MsgConversion.cpp
+4
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@@ -456,6 +456,7 @@ rtabmap::Signature nodeDataFromROS(const rtabmap_ros::NodeData & msg)
rtabmap::SensorData(
compressedMatFromBytes(msg.laserScan),
msg.laserScanMaxPts,
msg.laserScanMaxRange,
compressedMatFromBytes(msg.image),
compressedMatFromBytes(msg.depth),
stereoModel,
@@ -465,6 +466,7 @@ rtabmap::Signature nodeDataFromROS(const rtabmap_ros::NodeData & msg)
rtabmap::SensorData(
compressedMatFromBytes(msg.laserScan),
msg.laserScanMaxPts,
msg.laserScanMaxRange,
compressedMatFromBytes(msg.image),
compressedMatFromBytes(msg.depth),
models,
@@ -488,6 +490,8 @@ void nodeDataToROS(const rtabmap::Signature & signature, rtabmap_ros::NodeData &
compressedMatToBytes(signature.sensorData().depthOrRightCompressed(), msg.depth);
compressedMatToBytes(signature.sensorData().laserScanCompressed(), msg.laserScan);
compressedMatToBytes(signature.sensorData().userDataCompressed(), msg.userData);
msg.laserScanMaxPts = signature.sensorData().laserScanMaxPts();
msg.laserScanMaxRange = signature.sensorData().laserScanMaxRange();
msg.baseline = 0;
if(signature.sensorData().cameraModels().size())
{