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Parameters: added Grid/FullUpdate (default true). Updated how occupancy grid is updated after loop closure. OctoMap: added tree depth argument when creating 2d map, added full update argument on constructor (default false). MainWindow: using OccupancyGrid object instead of keeping in cache local grids (we can have actual time to update the global grid).

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This commit is contained in:
matlabbe
2017-04-07 18:31:11 -04:00
parent 6bfce63060
commit b7dbf27931
13 changed files with 831 additions and 676 deletions
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3
guilib/include/rtabmap/gui/MainWindow.h
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@@ -301,9 +301,6 @@ private:
std::pair<int, std::pair<std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr>, pcl::IndicesPtr> > _previousCloud; // used for subtraction
std::map<int, cv::Mat> _createdScans;
std::map<int, std::pair<cv::Mat, cv::Mat> > _gridLocalMaps; // <ground, obstacles>
std::map<int, cv::Point3f> _gridViewPoints;
long _cachedGridsMemoryUsage;
rtabmap::OccupancyGrid * _occupancyGrid;
rtabmap::OctoMap * _octomap;

3
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -169,7 +169,7 @@ public:
bool isOctomapCubeRendering() const;
bool isOctomap2dGrid() const;
int getOctomapTreeDepth() const;
bool isOctomapGroundAnObstacle() const;
bool isOctomapFullUpdate() const;
double getOctomapOccupancyThr() const;
int getOctomapPointSize() const;
int getCloudDecimation(int index) const; // 0=map, 1=odom
@@ -199,7 +199,6 @@ public:
bool getGridMapShown() const;
double getGridMapResolution() const;;
bool isGridMapEroded() const;
bool isGridMapIncremental() const;
double getGridMapFootprintRadius() const;
bool isGridMapFrom3DCloud() const;
bool projMapFrame() const;