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ros-pkg: Added decimation parameter to point_cloud_xyzrgb nodelet

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1344 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-06-11 15:42:41 +00:00
parent a9a7ebb6b7
commit 9a2d96b99e
2 changed files with 45 additions and 22 deletions
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launch/tests/test_pointxyzrgb.launch
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<launch>
<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap/point_cloud_xyzrgb">
<remap from="rgb/image" to="camera/rgb/image_rect_color"/>
<remap from="depth/image" to="camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
<remap from="cloud" to="/voxel_cloud" />
<param name="queue_size" type="int" value="30"/>
<param name="voxel_size" type="double" value="0.02"/>
<param name="decimation" type="int" value="2"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
</node>
</launch>