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MapCloud rviz: Added floor filtering parameter

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1805 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-09-30 21:32:15 +00:00
parent d3b45f8780
commit 97b7dadf9c
3 changed files with 24 additions and 8 deletions
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src/rviz/MapCloudDisplay.cpp
+13
View File
@@ -141,6 +141,13 @@ MapCloudDisplay::MapCloudDisplay()
cloud_voxel_size_->setMin( 0.0f );
cloud_voxel_size_->setMax( 1.0f );
cloud_filter_floor_height_ = new rviz::FloatProperty( "Filter floor (m)", 0.0f,
"Filter the floor up to maximum height set here "
"(only appropriate for 2D mapping).",
this, SLOT( updateCloudParameters() ), this );
cloud_filter_floor_height_->setMin( 0.0f );
cloud_filter_floor_height_->setMax( 999.0f );
node_filtering_radius_ = new rviz::FloatProperty( "Node filtering radius (m)", 0.2f,
"(Disabled=0) Only keep one node in the specified radius.",
this, SLOT( updateCloudParameters() ), this );
@@ -314,6 +321,12 @@ void MapCloudDisplay::processMapData(const rtabmap::MapData& map)
cloud = util3d::transformPointCloud(cloud, localTransform);
// do it after local transform
if(cloud_filter_floor_height_->getFloat() > 0.0f)
{
cloud = util3d::passThrough(cloud, "z", cloud_filter_floor_height_->getFloat(), 999.0f);
}
sensor_msgs::PointCloud2::Ptr cloudMsg(new sensor_msgs::PointCloud2);
pcl::toROSMsg(*cloud, *cloudMsg);
cloudMsg->header = map.header;
src/rviz/MapCloudDisplay.h
+1
View File
@@ -107,6 +107,7 @@ public:
rviz::IntProperty* cloud_decimation_;
rviz::FloatProperty* cloud_max_depth_;
rviz::FloatProperty* cloud_voxel_size_;
rviz::FloatProperty* cloud_filter_floor_height_;
rviz::FloatProperty* node_filtering_radius_;
rviz::FloatProperty* node_filtering_angle_;
rviz::BoolProperty* download_map_;