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.

2026-10-07 18:27:46 +08:00 · 2017-09-19 14:27:41 -04:00
parent ea6f39eb73
commit a0e2596cd2
12 changed files with 237 additions and 160 deletions
@@ -97,6 +97,8 @@ private:
 	std::string groundTruthFrameId_;
 	std::string groundTruthBaseFrameId_;
 	std::string guessFrameId_;
+	double guessMinTranslation_;
+	double guessMinRotation_;
 	bool publishTf_;
 	bool waitForTransform_;
 	double waitForTransformDuration_;