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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/rviz/MapCloudDisplay.cpp
+4 -4
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@@ -319,19 +319,19 @@ void MapCloudDisplay::processMapData(const rtabmap::MapData& map)
}
if(cloud_max_depth_->getFloat() > 0.0f)
{
cloud = util3d::passThrough(cloud, "z", 0, cloud_max_depth_->getFloat());
cloud = util3d::passThrough<pcl::PointXYZRGB>(cloud, "z", 0, cloud_max_depth_->getFloat());
}
if(cloud_voxel_size_->getFloat() > 0.0f)
{
cloud = util3d::voxelize(cloud, cloud_voxel_size_->getFloat());
cloud = util3d::voxelize<pcl::PointXYZRGB>(cloud, cloud_voxel_size_->getFloat());
}
cloud = util3d::transformPointCloud(cloud, localTransform);
cloud = util3d::transformPointCloud<pcl::PointXYZRGB>(cloud, localTransform);
// do it after local transform
if(cloud_filter_floor_height_->getFloat() > 0.0f)
{
cloud = util3d::passThrough(cloud, "z", cloud_filter_floor_height_->getFloat(), 999.0f);
cloud = util3d::passThrough<pcl::PointXYZRGB>(cloud, "z", cloud_filter_floor_height_->getFloat(), 999.0f);
}
sensor_msgs::PointCloud2::Ptr cloudMsg(new sensor_msgs::PointCloud2);