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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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8
guilib/src/MainWindow.cpp
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@@ -239,7 +239,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_occupancyGrid = new OccupancyGrid(_preferencesDialog->getAllParameters());
#ifdef RTABMAP_OCTOMAP
_octomap = new OctoMap(_preferencesDialog->getGridMapResolution());
_octomap = new OctoMap(_preferencesDialog->getGridMapResolution(), _preferencesDialog->getOctomapOccupancyThr());
#endif
// Timer
@@ -4037,7 +4037,9 @@ void MainWindow::startDetection()
#ifdef RTABMAP_OCTOMAP
UASSERT(_octomap != 0);
delete _octomap;
_octomap = new OctoMap(_preferencesDialog->getGridMapResolution());
_octomap = new OctoMap(
_preferencesDialog->getGridMapResolution(),
_preferencesDialog->getOctomapOccupancyThr());
#endif
_occupancyGrid->clear();
@@ -5061,7 +5063,7 @@ void MainWindow::clearTheCache()
// re-create one if the resolution has changed
UASSERT(_octomap != 0);
delete _octomap;
_octomap = new OctoMap(_preferencesDialog->getGridMapResolution());
_octomap = new OctoMap(_preferencesDialog->getGridMapResolution(), _preferencesDialog->getOctomapOccupancyThr());
#endif
_occupancyGrid->clear();
}