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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/rviz/MapCloudDisplay.cpp
+5 -1
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@@ -66,6 +66,7 @@ namespace rtabmap_ros
MapCloudDisplay::CloudInfo::CloudInfo() :
manager_(0),
pose_(rtabmap::Transform::getIdentity()),
id_(0),
scene_node_(0)
{}
@@ -85,6 +86,9 @@ void MapCloudDisplay::CloudInfo::clear()
MapCloudDisplay::MapCloudDisplay()
: spinner_(1, &cbqueue_),
new_xyz_transformer_(false),
new_color_transformer_(false),
needs_retransform_(false),
transformer_class_loader_(NULL)
{
//QIcon icon;
@@ -697,7 +701,6 @@ void MapCloudDisplay::update( float wall_dt, float ros_dt )
void MapCloudDisplay::reset()
{
MFDClass::reset();
{
boost::mutex::scoped_lock lock(new_clouds_mutex_);
cloud_infos_.clear();
@@ -707,6 +710,7 @@ void MapCloudDisplay::reset()
boost::mutex::scoped_lock lock(current_map_mutex_);
current_map_.clear();
}
MFDClass::reset();
}
void MapCloudDisplay::updateXyzTransformer()