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OctoMap: Added occupancy threshold to constructor

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matlabbe
2016-09-01 20:33:05 -04:00
parent 717e82c09e
commit 4bd9e4f847
7 changed files with 43 additions and 8 deletions
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3
corelib/src/OctoMap.cpp
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@@ -35,10 +35,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap {
OctoMap::OctoMap(float voxelSize) :
OctoMap::OctoMap(float voxelSize, float occupancyThr) :
octree_(new octomap::ColorOcTree(voxelSize)),
hasColor_(false)
{
octree_->setOccupancyThres(occupancyThr);
UASSERT(voxelSize>0.0f);
}