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removed "flip_scan" parameter (now detect directly with tf)

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matlabbe
2016-08-31 12:45:55 -04:00
parent 42661b6673
commit da2b87bb28
1 changed files with 10 additions and 4 deletions
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src/CoreWrapper.cpp
+10 -4
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@@ -95,7 +95,6 @@ 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),
@@ -209,9 +208,14 @@ 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_);
pnh.param("stereo_to_depth", stereoToDepth_, stereoToDepth_); pnh.param("stereo_to_depth", stereoToDepth_, stereoToDepth_);
pnh.param("odom_sensor_sync", odomSensorSync_, odomSensorSync_); pnh.param("odom_sensor_sync", odomSensorSync_, odomSensorSync_);
if(pnh.hasParam("flip_scan"))
{
ROS_WARN("Parameter \"flip_scan\" doesn't exist anymore. Rtabmap now "
"detects automatically if the laser is upside down with /tf, then if so, it "
"switches scan values.");
}
if(!tfPrefix.empty()) if(!tfPrefix.empty())
{ {
@@ -907,7 +911,8 @@ void CoreWrapper::commonDepthCallback(
ROS_ERROR("Could not convert laser scan msg! Aborting rtabmap update..."); ROS_ERROR("Could not convert laser scan msg! Aborting rtabmap update...");
return; return;
} }
if(flipScan_) Transform zAxis(0,0,1,0,0,0);
if((scanLocalTransform.rotation()*zAxis).z() < 0)
{ {
cv::Mat flipScan; cv::Mat flipScan;
cv::flip(scan, flipScan, 1); cv::flip(scan, flipScan, 1);
@@ -1049,7 +1054,8 @@ void CoreWrapper::commonStereoCallback(
ROS_ERROR("Could not convert laser scan msg! Aborting rtabmap update..."); ROS_ERROR("Could not convert laser scan msg! Aborting rtabmap update...");
return; return;
} }
if(flipScan_) Transform zAxis(0,0,1,0,0,0);
if((scanLocalTransform.rotation()*zAxis).z() < 0)
{ {
cv::Mat flipScan; cv::Mat flipScan;
cv::flip(scan, flipScan, 1); cv::flip(scan, flipScan, 1);