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rtabmap: added "flip_scan" parameter to flip scan values if the laser rangefinder is upside down (fixed #65)

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matlabbe
2016-06-06 12:35:31 -04:00
parent e76bfa07b2
commit cc0591c60a
2 changed files with 17 additions and 0 deletions
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src/CoreWrapper.cpp
+15
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@@ -94,6 +94,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart, const ParametersMap & parameters)
genScanMinDepth_(0.0), genScanMinDepth_(0.0),
scanCloudMaxPoints_(0), scanCloudMaxPoints_(0),
scanCloudNormalK_(0), scanCloudNormalK_(0),
flipScan_(false),
mapToOdom_(rtabmap::Transform::getIdentity()), mapToOdom_(rtabmap::Transform::getIdentity()),
mapsManager_(true), mapsManager_(true),
depthSync_(0), depthSync_(0),
@@ -178,6 +179,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart, const ParametersMap & parameters)
pnh.param("gen_scan_min_depth", genScanMinDepth_, genScanMinDepth_); pnh.param("gen_scan_min_depth", genScanMinDepth_, genScanMinDepth_);
pnh.param("scan_cloud_max_points", scanCloudMaxPoints_, scanCloudMaxPoints_); pnh.param("scan_cloud_max_points", scanCloudMaxPoints_, scanCloudMaxPoints_);
pnh.param("scan_cloud_normal_k", scanCloudNormalK_, scanCloudNormalK_); pnh.param("scan_cloud_normal_k", scanCloudNormalK_, scanCloudNormalK_);
pnh.param("flip_scan", flipScan_, flipScan_);
if(!tfPrefix.empty()) if(!tfPrefix.empty())
{ {
@@ -959,6 +961,12 @@ void CoreWrapper::commonDepthCallback(
} }
} }
scan = util3d::laserScan2dFromPointCloud(*pclScan); scan = util3d::laserScan2dFromPointCloud(*pclScan);
if(flipScan_)
{
cv::Mat flipScan;
cv::flip(scan, flipScan, 1);
scan = flipScan;
}
} }
else if(scan3dMsg.get() != 0) else if(scan3dMsg.get() != 0)
{ {
@@ -1116,6 +1124,12 @@ void CoreWrapper::commonStereoCallback(
} }
scan = util3d::laserScan2dFromPointCloud(*pclScan); scan = util3d::laserScan2dFromPointCloud(*pclScan);
if(flipScan_)
{
cv::Mat flipScan;
cv::flip(scan, flipScan, 1);
scan = flipScan;
}
} }
else if(scan3dMsg.get() != 0) else if(scan3dMsg.get() != 0)
{ {
@@ -2955,3 +2969,4 @@ void CoreWrapper::setupCallbacks(
} }
src/CoreWrapper.h
+2
View File
@@ -278,6 +278,7 @@ private:
double genScanMinDepth_; double genScanMinDepth_;
int scanCloudMaxPoints_; int scanCloudMaxPoints_;
int scanCloudNormalK_; int scanCloudNormalK_;
bool flipScan_;
rtabmap::Transform mapToOdom_; rtabmap::Transform mapToOdom_;
boost::mutex mapToOdomMutex_; boost::mutex mapToOdomMutex_;
@@ -472,3 +473,4 @@ private:
}; };
#endif /* COREWRAPPER_H_ */ #endif /* COREWRAPPER_H_ */