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0.12.15 Parameters: added "GridGlobal" parameter group, fixed https://github.com/introlab/rtabmap_ros/issues/162

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matlabbe
2017-04-10 16:59:48 -04:00
parent 98a96a897b
commit 6f148c47e2
9 changed files with 287 additions and 236 deletions
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corelib/include/rtabmap/core/OccupancyGrid.h
+6 -7
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@@ -44,6 +44,7 @@ public:
void parseParameters(const ParametersMap & parameters);
void setCellSize(float cellSize);
float getCellSize() const {return cellSize_;}
float getMinMapSize() const {return minMapSize_;}
bool isGridFromDepth() const {return occupancyFromCloud_;}
bool isFullUpdate() const {return fullUpdate_;}
const std::map<int, Transform> & addedNodes() const {return addedNodes_;}
@@ -69,13 +70,8 @@ public:
int nodeId,
const cv::Mat & ground,
const cv::Mat & obstacles);
void update(const std::map<int, Transform> & poses, float minMapSize = 0.0f, float footprintRadius = 0.0f);
const cv::Mat & getMap(float & xMin, float & yMin) const
{
xMin = xMin_;
yMin = yMin_;
return map_;
}
void update(const std::map<int, Transform> & poses);
const cv::Mat getMap(float & xMin, float & yMin) const;
private:
ParametersMap parameters_;
@@ -107,6 +103,9 @@ private:
double scan2dMaxUnknownSpaceFilledRange_;
bool projRayTracing_;
bool fullUpdate_;
float minMapSize_;
bool erode_;
float footprintRadius_;
std::map<int, std::pair<cv::Mat, cv::Mat> > cache_;
cv::Mat map_;