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Merge branch 'master' of github.com:introlab/rtabmap_ros into 0.11.0

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Conflicts:
	src/CoreWrapper.cpp
	src/CoreWrapper.h
This commit is contained in:
matlabbe
2016-03-09 12:22:27 -05:00
parent 6b5ccf99fb 26c656776c
commit d712efe455
12 changed files with 126 additions and 53 deletions
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src/MapsManager.cpp
+13 -2
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@@ -34,6 +34,7 @@ MapsManager::MapsManager(bool usePublicNamespace) :
cloudMaxDepth_(4.0), // meters
cloudVoxelSize_(0.05), // meters
cloudFloorCullingHeight_(0.0),
cloudCeilingCullingHeight_(0.0),
cloudOutputVoxelized_(false),
cloudFrustumCulling_(false),
cloudNoiseFilteringRadius_(0.0),
@@ -60,6 +61,14 @@ MapsManager::MapsManager(bool usePublicNamespace) :
pnh.param("cloud_max_depth", cloudMaxDepth_, cloudMaxDepth_);
pnh.param("cloud_voxel_size", cloudVoxelSize_, cloudVoxelSize_);
pnh.param("cloud_floor_culling_height", cloudFloorCullingHeight_, cloudFloorCullingHeight_);
pnh.param("cloud_ceiling_culling_height", cloudCeilingCullingHeight_, cloudCeilingCullingHeight_);
if(cloudFloorCullingHeight_ > 0 &&
cloudCeilingCullingHeight_ > 0 &&
cloudCeilingCullingHeight_ < cloudFloorCullingHeight_)
{
ROS_WARN("\"cloud_floor_culling_height\" should be lower than \"cloud_ceiling_culling_height\", setting \"cloud_ceiling_culling_height\" to 0 (disabled).");
cloudCeilingCullingHeight_ = 0;
}
pnh.param("cloud_output_voxelized", cloudOutputVoxelized_, cloudOutputVoxelized_);
pnh.param("cloud_frustum_culling", cloudFrustumCulling_, cloudFrustumCulling_);
pnh.param("cloud_noise_filtering_radius", cloudNoiseFilteringRadius_, cloudNoiseFilteringRadius_);
@@ -512,9 +521,11 @@ void MapsManager::publishMaps(
}
}
if(assembledCloud->size() && cloudFloorCullingHeight_ > 0.0)
if(assembledCloud->size() && (cloudFloorCullingHeight_ > 0.0 || cloudCeilingCullingHeight_ > 0.0))
{
assembledCloud = util3d::passThrough(assembledCloud, "z", cloudFloorCullingHeight_, 99999.0f);
assembledCloud = util3d::passThrough(assembledCloud, "z",
cloudFloorCullingHeight_>0.0?cloudFloorCullingHeight_:-999.0,
cloudCeilingCullingHeight_>0.0 && (cloudFloorCullingHeight_<=0.0 || cloudCeilingCullingHeight_>cloudFloorCullingHeight_)?cloudCeilingCullingHeight_:999.0);
}
if(assembledCloud->size() && cloudVoxelSize_ > 0 && cloudOutputVoxelized_)