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rtabmap: scan_cloud_normal_k and scan_normal_radius removed. odometry: added guess_min_translation, guess_min_rotation and scan_voxel_size parameters. data_recorder.launch: updated to support rgbd_image and scan_cloud inputs.

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This commit is contained in:
matlabbe
2017-09-19 14:27:41 -04:00
parent ea6f39eb73
commit a0e2596cd2
12 changed files with 237 additions and 160 deletions
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include/rtabmap_ros/CoreWrapper.h
-2
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@@ -198,8 +198,6 @@ private:
double genScanMaxDepth_;
double genScanMinDepth_;
int scanCloudMaxPoints_;
int scanCloudNormalK_;
float scanCloudNormalRadius_;
rtabmap::Transform mapToOdom_;
boost::mutex mapToOdomMutex_;
include/rtabmap_ros/MsgConversion.h
+2 -6
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@@ -205,9 +205,7 @@ bool convertScanMsg(
cv::Mat & scan,
rtabmap::Transform & scanLocalTransform,
tf::TransformListener & listener,
double waitForTransform,
int scanCloudNormalK = 0,
float scanCloudNormalRadius = 0.0f);
double waitForTransform);
bool convertScan3dMsg(
const sensor_msgs::PointCloud2ConstPtr & scan3dMsg,
@@ -217,9 +215,7 @@ bool convertScan3dMsg(
cv::Mat & scan,
rtabmap::Transform & scanLocalTransform,
tf::TransformListener & listener,
double waitForTransform,
int scanCloudNormalK = 0,
float scanCloudNormalRadius = 0.0f);
double waitForTransform);
}
include/rtabmap_ros/OdometryROS.h
+2
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@@ -97,6 +97,8 @@ private:
std::string groundTruthFrameId_;
std::string groundTruthBaseFrameId_;
std::string guessFrameId_;
double guessMinTranslation_;
double guessMinRotation_;
bool publishTf_;
bool waitForTransform_;
double waitForTransformDuration_;