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ros-pkg: updated to rtabmap trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1922 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-24 16:59:55 +00:00
parent 1ef71dd5af
commit bef004eaa3
5 changed files with 58 additions and 24 deletions
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src/MapAssemblerNode.cpp
+9 -9
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@@ -169,14 +169,14 @@ public:
if(cloudMaxDepth_ > 0)
{
cloud = util3d::passThrough(cloud, "z", 0, cloudMaxDepth_);
cloud = util3d::passThrough<pcl::PointXYZRGB>(cloud, "z", 0, cloudMaxDepth_);
}
if(cloudVoxelSize_ > 0)
{
cloud = util3d::voxelize(cloud, cloudVoxelSize_);
cloud = util3d::voxelize<pcl::PointXYZRGB>(cloud, cloudVoxelSize_);
}
cloud = util3d::transformPointCloud(cloud, localTransform);
cloud = util3d::transformPointCloud<pcl::PointXYZRGB>(cloud, localTransform);
rgbClouds_.insert(std::make_pair(id, cloud));
@@ -185,7 +185,7 @@ public:
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudClipped = cloud;
if(maxHeight_ > 0)
{
cloudClipped = util3d::passThrough(cloudClipped, "z", std::numeric_limits<int>::min(), maxHeight_);
cloudClipped = util3d::passThrough<pcl::PointXYZRGB>(cloudClipped, "z", std::numeric_limits<int>::min(), maxHeight_);
}
cv::Mat ground, obstacles;
if(util3d::occupancy2DFromCloud3D(cloudClipped, ground, obstacles, gridCellSize_, groundMaxAngle_, clusterMinSize_))
@@ -209,7 +209,7 @@ public:
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = util3d::depth2DToPointCloud(depth2d);
if(scanVoxelSize_ > 0)
{
cloud = util3d::voxelize(cloud, scanVoxelSize_);
cloud = util3d::voxelize<pcl::PointXYZ>(cloud, scanVoxelSize_);
}
scans_.insert(std::make_pair(msg->depth2DIDs[i], cloud));
@@ -238,7 +238,7 @@ public:
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr >::iterator jter = rgbClouds_.find(iter->first);
if(jter != rgbClouds_.end())
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformed = util3d::transformPointCloud(jter->second, iter->second);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformed = util3d::transformPointCloud<pcl::PointXYZRGB>(jter->second, iter->second);
*assembledCloud+=*transformed;
}
}
@@ -247,7 +247,7 @@ public:
{
if(cloudVoxelSize_ > 0)
{
assembledCloud = util3d::voxelize(assembledCloud,cloudVoxelSize_);
assembledCloud = util3d::voxelize<pcl::PointXYZRGB>(assembledCloud,cloudVoxelSize_);
}
sensor_msgs::PointCloud2::Ptr cloudMsg(new sensor_msgs::PointCloud2);
@@ -268,7 +268,7 @@ public:
std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr >::iterator jter = scans_.find(iter->first);
if(jter != scans_.end())
{
pcl::PointCloud<pcl::PointXYZ>::Ptr transformed = util3d::transformPointCloud(jter->second, iter->second);
pcl::PointCloud<pcl::PointXYZ>::Ptr transformed = util3d::transformPointCloud<pcl::PointXYZ>(jter->second, iter->second);
*assembledCloud+=*transformed;
}
}
@@ -277,7 +277,7 @@ public:
{
if(scanVoxelSize_ > 0)
{
assembledCloud = util3d::voxelize(assembledCloud, scanVoxelSize_);
assembledCloud = util3d::voxelize<pcl::PointXYZ>(assembledCloud, scanVoxelSize_);
}
sensor_msgs::PointCloud2::Ptr cloudMsg(new sensor_msgs::PointCloud2);