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Updated Info msg: changed localLoopClosureId for proximityDetectionId. point_cloud_xyzrgb nodelet: handling bgr and rgb encoding. Updated demo_find_object.launch with 0.11. MapsManager: Fixed grids generated with only one point.

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matlabbe
2016-03-11 20:16:52 -05:00
parent f0d91c5eac
commit f26c8b55eb
7 changed files with 75 additions and 30 deletions
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src/MsgConversion.cpp
+2 -2
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@@ -146,7 +146,7 @@ void infoFromROS(const rtabmap_ros::Info & info, rtabmap::Statistics & stat)
// rtabmap_ros::Info
stat.setRefImageId(info.refId);
stat.setLoopClosureId(info.loopClosureId);
stat.setLocalLoopClosureId(info.localLoopClosureId);
stat.setProximityDetectionId(info.proximityDetectionId);
stat.setLoopClosureTransform(rtabmap_ros::transformFromGeometryMsg(info.loopClosureTransform));
@@ -190,7 +190,7 @@ void infoToROS(const rtabmap::Statistics & stats, rtabmap_ros::Info & info)
{
info.refId = stats.refImageId();
info.loopClosureId = stats.loopClosureId();
info.localLoopClosureId = stats.localLoopClosureId();
info.proximityDetectionId = stats.proximityDetectionId();
rtabmap_ros::transformToGeometryMsg(stats.loopClosureTransform(), info.loopClosureTransform);