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GUI: Fixed ProbMiss assert when resetting value to default

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matlabbe
2018-08-16 16:51:29 -04:00
parent 35d5200a3b
commit 9e13d5600a
2 changed files with 28 additions and 15 deletions
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37
corelib/src/OccupancyGrid.cpp
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@@ -75,10 +75,10 @@ OccupancyGrid::OccupancyGrid(const ParametersMap & parameters) :
footprintRadius_(Parameters::defaultGridGlobalFootprintRadius()),
updateError_(Parameters::defaultGridGlobalUpdateError()),
occupancyThr_(Parameters::defaultGridGlobalOccupancyThr()),
probHit_(Parameters::defaultGridGlobalProbHit()),
probMiss_(Parameters::defaultGridGlobalProbMiss()),
probClampingMin_(Parameters::defaultGridGlobalProbClampingMin()),
probClampingMax_(Parameters::defaultGridGlobalProbClampingMax()),
probHit_(logodds(Parameters::defaultGridGlobalProbHit())),
probMiss_(logodds(Parameters::defaultGridGlobalProbMiss())),
probClampingMin_(logodds(Parameters::defaultGridGlobalProbClampingMin())),
probClampingMax_(logodds(Parameters::defaultGridGlobalProbClampingMax())),
xMin_(0.0f),
yMin_(0.0f),
cloudAssembling_(false),
@@ -137,19 +137,26 @@ void OccupancyGrid::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kGridGlobalUpdateError(), updateError_);
Parameters::parse(parameters, Parameters::kGridGlobalOccupancyThr(), occupancyThr_);
Parameters::parse(parameters, Parameters::kGridGlobalProbHit(), probHit_);
Parameters::parse(parameters, Parameters::kGridGlobalProbMiss(), probMiss_);
Parameters::parse(parameters, Parameters::kGridGlobalProbClampingMin(), probClampingMin_);
Parameters::parse(parameters, Parameters::kGridGlobalProbClampingMax(), probClampingMax_);
probHit_ = logodds(probHit_);
UASSERT(probHit_ >= 0.0f);
probMiss_ = logodds(probMiss_);
UASSERT(probMiss_ <= 0.0f);
probClampingMin_ = logodds(probClampingMin_);
probClampingMax_ = logodds(probClampingMax_);
if(Parameters::parse(parameters, Parameters::kGridGlobalProbHit(), probHit_))
{
probHit_ = logodds(probHit_);
UASSERT_MSG(probHit_ >= 0.0f, uFormat("probHit_=%f",probHit_).c_str());
}
if(Parameters::parse(parameters, Parameters::kGridGlobalProbMiss(), probMiss_))
{
probMiss_ = logodds(probMiss_);
UASSERT_MSG(probMiss_ <= 0.0f, uFormat("probMiss_=%f",probMiss_).c_str());
}
if(Parameters::parse(parameters, Parameters::kGridGlobalProbClampingMin(), probClampingMin_))
{
probClampingMin_ = logodds(probClampingMin_);
}
if(Parameters::parse(parameters, Parameters::kGridGlobalProbClampingMax(), probClampingMax_))
{
probClampingMax_ = logodds(probClampingMax_);
}
UASSERT(probClampingMax_ > probClampingMin_);
UASSERT(minMapSize_ >= 0.0f);
// convert ROI from string to vector