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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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This commit is contained in:
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/rviz/InfoDisplay.cpp
+7 -7
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@@ -51,8 +51,8 @@ void InfoDisplay::onInitialize()
this->setStatusStd(rviz::StatusProperty::Ok, "Info", "");
this->setStatusStd(rviz::StatusProperty::Ok, "Position (XYZ)", "");
this->setStatusStd(rviz::StatusProperty::Ok, "Orientation (RPY)", "");
this->setStatusStd(rviz::StatusProperty::Ok, "Global", "0");
this->setStatusStd(rviz::StatusProperty::Ok, "Local", "0");
this->setStatusStd(rviz::StatusProperty::Ok, "Loop closures", "0");
this->setStatusStd(rviz::StatusProperty::Ok, "Proximity detections", "0");
spinner_.start();
}
@@ -63,12 +63,12 @@ void InfoDisplay::processMessage( const rtabmap_ros::InfoConstPtr& msg )
boost::mutex::scoped_lock lock(info_mutex_);
if(msg->loopClosureId)
{
info_ = QString("%1->%2 [Global]").arg(msg->refId).arg(msg->loopClosureId);
info_ = QString("%1->%2").arg(msg->refId).arg(msg->loopClosureId);
globalCount_ += 1;
}
else if(msg->localLoopClosureId)
else if(msg->proximityDetectionId)
{
info_ = QString("%1->%2 [Local]").arg(msg->refId).arg(msg->localLoopClosureId);
info_ = QString("%1->%2 [Proximity]").arg(msg->refId).arg(msg->proximityDetectionId);
localCount_ += 1;
}
else
@@ -103,8 +103,8 @@ void InfoDisplay::update( float wall_dt, float ros_dt )
this->setStatusStd(rviz::StatusProperty::Ok, "Position (XYZ)", tr("%1;%2;%3").arg(x).arg(y).arg(z).toStdString());
this->setStatusStd(rviz::StatusProperty::Ok, "Orientation (RPY)", tr("%1;%2;%3").arg(roll).arg(pitch).arg(yaw).toStdString());
}
this->setStatusStd(rviz::StatusProperty::Ok, "Global", tr("%1").arg(globalCount_).toStdString());
this->setStatusStd(rviz::StatusProperty::Ok, "Local", tr("%1").arg(localCount_).toStdString());
this->setStatusStd(rviz::StatusProperty::Ok, "Loop closures", tr("%1").arg(globalCount_).toStdString());
this->setStatusStd(rviz::StatusProperty::Ok, "Proximity detections", tr("%1").arg(localCount_).toStdString());
for(std::map<std::string, float>::const_iterator iter=statistics_.begin(); iter!=statistics_.end(); ++iter)
{