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Added parameter "Grid/ProjRayTracing" and renamed "Grid/3DGroundIsObstacle" to "Grid/GroundIsObstacle"

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This commit is contained in:
matlabbe
2017-03-01 14:06:21 -05:00
parent c9f6dabfc6
commit 17121d5861
7 changed files with 55 additions and 10 deletions
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20
corelib/src/OccupancyGrid.cpp
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@@ -59,11 +59,12 @@ OccupancyGrid::OccupancyGrid(const ParametersMap & parameters) :
maxGroundHeight_(Parameters::defaultGridMaxGroundHeight()),
normalsSegmentation_(Parameters::defaultGridNormalsSegmentation()),
grid3D_(Parameters::defaultGrid3D()),
groundIsObstacle_(Parameters::defaultGrid3DGroundIsObstacle()),
groundIsObstacle_(Parameters::defaultGridGroundIsObstacle()),
noiseFilteringRadius_(Parameters::defaultGridNoiseFilteringRadius()),
noiseFilteringMinNeighbors_(Parameters::defaultGridNoiseFilteringMinNeighbors()),
scan2dUnknownSpaceFilled_(Parameters::defaultGridScan2dUnknownSpaceFilled()),
scan2dMaxUnknownSpaceFilledRange_(Parameters::defaultGridScan2dMaxFilledRange()),
projRayTracing_(Parameters::defaultGridProjRayTracing()),
xMin_(0.0f),
yMin_(0.0f)
{
@@ -124,11 +125,12 @@ void OccupancyGrid::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kGridFlatObstacleDetected(), flatObstaclesDetected_);
Parameters::parse(parameters, Parameters::kGridNormalsSegmentation(), normalsSegmentation_);
Parameters::parse(parameters, Parameters::kGrid3D(), grid3D_);
Parameters::parse(parameters, Parameters::kGrid3DGroundIsObstacle(), groundIsObstacle_);
Parameters::parse(parameters, Parameters::kGridGroundIsObstacle(), groundIsObstacle_);
Parameters::parse(parameters, Parameters::kGridNoiseFilteringRadius(), noiseFilteringRadius_);
Parameters::parse(parameters, Parameters::kGridNoiseFilteringMinNeighbors(), noiseFilteringMinNeighbors_);
Parameters::parse(parameters, Parameters::kGridScan2dUnknownSpaceFilled(), scan2dUnknownSpaceFilled_);
Parameters::parse(parameters, Parameters::kGridScan2dMaxFilledRange(), scan2dMaxUnknownSpaceFilledRange_);
Parameters::parse(parameters, Parameters::kGridProjRayTracing(), projRayTracing_);
// convert ROI from string to vector
ParametersMap::const_iterator iter;
@@ -322,6 +324,20 @@ void OccupancyGrid::createLocalMap(
ground,
obstacles,
cellSize_);
if(projRayTracing_)
{
cv::Mat laserScan = obstacles;
ground = cv::Mat();
obstacles = cv::Mat();
util3d::occupancy2DFromLaserScan(
laserScan,
ground,
obstacles,
cellSize_,
false, // don't fill unknown space
0);
}
}
}
}

3
corelib/src/Parameters.cpp
View File

@@ -224,6 +224,9 @@ const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemo
{
// removed parameters
// 0.12.1
removedParameters_.insert(std::make_pair("Grid/3DGroundIsObstacle", std::make_pair(true, Parameters::kGridGroundIsObstacle())));
// 0.11.12
removedParameters_.insert(std::make_pair("Optimizer/Slam2D", std::make_pair(true, Parameters::kRegForce3DoF())));
removedParameters_.insert(std::make_pair("OdomF2M/FixedMapPath", std::make_pair(false, "")));