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Grid/DetectFlatObstacles default true. segmentObstaclesFromGround(): Fixed not used indices still kept in obstacles output

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matlabbe
2016-08-26 11:41:35 -04:00
parent 797f1f0f1c
commit 4e027a6515
4 changed files with 95 additions and 89 deletions
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9
guilib/src/DatabaseViewer.cpp
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@@ -1546,6 +1546,9 @@ void DatabaseViewer::regenerateLocalMaps()
UTimer time;
OccupancyGrid grid(ui_->parameters_toolbox->getParameters());
generatedLocalMaps_.clear();
generatedLocalMapsInfo_.clear();
rtabmap::ProgressDialog progressDialog(this);
progressDialog.setMaximumSteps(ids_.size());
progressDialog.show();
@@ -1571,12 +1574,6 @@ void DatabaseViewer::regenerateLocalMaps()
uInsert(generatedLocalMaps_, std::make_pair(data.id(), std::make_pair(ground, obstacles)));
uInsert(generatedLocalMapsInfo_, std::make_pair(data.id(), std::make_pair(grid.getCellSize(), viewpoint)));
msg = QString("Generated local occupancy grid map %1/%2 (%3s)").arg(i+1).arg((int)ids_.size()).arg(time.ticks());
if(i==37)
{
pcl::io::savePCDFileBinary("ground.pcd", *util3d::laserScanToPointCloud(ground));
pcl::io::savePCDFileBinary("obstacles.pcd", *util3d::laserScanToPointCloud(obstacles));
UWARN("Saved ground.pcd and obstacles.pcd");
}
}
progressDialog.appendText(msg);