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Parameters in group GridGlobal: renamed OctoMapOccupancyThr to OccupancyThr, added ProbHit, ProbMiss, ProbClampingMin, ProbClampingMax. Using logodds approach from OctoMap to evaluate occupancy of standard grid map. ref https://github.com/introlab/rtabmap_ros/issues/269

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matlabbe
2018-08-16 14:42:05 -04:00
parent e0858a9c2a
commit 35d5200a3b
7 changed files with 364 additions and 21 deletions
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6
guilib/src/PreferencesDialog.cpp
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@@ -994,7 +994,11 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->doubleSpinBox_grid_minMapSize->setObjectName(Parameters::kGridGlobalMinSize().c_str());
_ui->spinBox_grid_maxNodes->setObjectName(Parameters::kGridGlobalMaxNodes().c_str());
_ui->doubleSpinBox_grid_footprintRadius->setObjectName(Parameters::kGridGlobalFootprintRadius().c_str());
_ui->doubleSpinBox_grid_octomapOccThr->setObjectName(Parameters::kGridGlobalOctoMapOccupancyThr().c_str());
_ui->doubleSpinBox_grid_occThr->setObjectName(Parameters::kGridGlobalOccupancyThr().c_str());
_ui->doubleSpinBox_grid_probHit->setObjectName(Parameters::kGridGlobalProbHit().c_str());
_ui->doubleSpinBox_grid_probMiss->setObjectName(Parameters::kGridGlobalProbMiss().c_str());
_ui->doubleSpinBox_grid_clampingMin->setObjectName(Parameters::kGridGlobalProbClampingMin().c_str());
_ui->doubleSpinBox_grid_clampingMax->setObjectName(Parameters::kGridGlobalProbClampingMax().c_str());
_ui->checkBox_grid_erode->setObjectName(Parameters::kGridGlobalEroded().c_str());
//Odometry