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point_cloud_assembler: optimized time to assemble final cloud, added circular_buffer option.

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matlabbe
2020-04-13 19:11:41 -04:00
parent ed8f2693f5
commit e641960450
3 changed files with 112 additions and 47 deletions
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CMakeLists.txt
+5
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@@ -386,6 +386,10 @@ add_executable(rtabmap_pointcloud_to_depthimage src/PointCloudToDepthImageNode.c
target_link_libraries(rtabmap_pointcloud_to_depthimage ${Libraries})
set_target_properties(rtabmap_pointcloud_to_depthimage PROPERTIES OUTPUT_NAME "pointcloud_to_depthimage")
add_executable(rtabmap_point_cloud_assembler src/PointCloudAssemblerNode.cpp)
target_link_libraries(rtabmap_point_cloud_assembler ${Libraries})
set_target_properties(rtabmap_point_cloud_assembler PROPERTIES OUTPUT_NAME "point_cloud_assembler")
# If rviz is found, add plugins
IF(rviz_FOUND)
@@ -530,6 +534,7 @@ install(TARGETS
rtabmap_data_player
rtabmap_odom_msg_to_tf
rtabmap_pointcloud_to_depthimage
rtabmap_point_cloud_assembler
rtabmap_camera
rtabmap_rgbd_sync
rtabmap_rgbd_relay