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

src/CoreWrapper.cpp

@@ -94,6 +94,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart, const ParametersMap & parameters)
 		genScanMinDepth_(0.0),
 		scanCloudMaxPoints_(0),
 		scanCloudNormalK_(0),
+		flipScan_(false),
 		mapToOdom_(rtabmap::Transform::getIdentity()),
 		mapsManager_(true),
 		depthSync_(0),
@@ -178,6 +179,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart, const ParametersMap & parameters)
 	pnh.param("gen_scan_min_depth",  genScanMinDepth_, genScanMinDepth_);
 	pnh.param("scan_cloud_max_points",  scanCloudMaxPoints_, scanCloudMaxPoints_);
 	pnh.param("scan_cloud_normal_k", scanCloudNormalK_, scanCloudNormalK_);
+	pnh.param("flip_scan", flipScan_, flipScan_);
 
 	if(!tfPrefix.empty())
 	{
@@ -959,6 +961,12 @@ void CoreWrapper::commonDepthCallback(
 			}
 		}
 		scan = util3d::laserScan2dFromPointCloud(*pclScan);
+		if(flipScan_)
+		{
+			cv::Mat flipScan;
+			cv::flip(scan, flipScan, 1);
+			scan = flipScan;
+		}
 	}
 	else if(scan3dMsg.get() != 0)
 	{
@@ -1116,6 +1124,12 @@ void CoreWrapper::commonStereoCallback(
 		}
 
 		scan = util3d::laserScan2dFromPointCloud(*pclScan);
+		if(flipScan_)
+		{
+			cv::Mat flipScan;
+			cv::flip(scan, flipScan, 1);
+			scan = flipScan;
+		}
 	}
 	else if(scan3dMsg.get() != 0)
 	{
@@ -2955,3 +2969,4 @@ void CoreWrapper::setupCallbacks(
 }
 
 
+

src/CoreWrapper.h

@@ -278,6 +278,7 @@ private:
 	double genScanMinDepth_;
 	int scanCloudMaxPoints_;
 	int scanCloudNormalK_;
+	bool flipScan_;
 
 	rtabmap::Transform mapToOdom_;
 	boost::mutex mapToOdomMutex_;
@@ -472,3 +473,4 @@ private:
 };
 
 #endif /* COREWRAPPER_H_ */
+