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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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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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src/nodelets/rgbd_odometry.cpp
+5
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@@ -117,6 +117,11 @@ private:
NODELET_FATAL("Only 2 cameras maximum supported yet.");
}
NODELET_INFO("RGBDOdometry: approx_sync = %s", approxSync?"true":"false");
NODELET_INFO("RGBDOdometry: queue_size = %d", queueSize_);
NODELET_INFO("RGBDOdometry: subscribe_rgbd = %s", subscribeRGBD?"true":"false");
NODELET_INFO("RGBDOdometry: rgbd_cameras = %d", rgbdCameras);
std::string subscribedTopicsMsg;
if(subscribeRGBD)
{