i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

Grid: support negative ground/obstacle height thresholds

Browse Source
This commit is contained in:
matlabbe
2017-06-12 11:48:13 -04:00
parent 9554597948
commit bbaac8b2b1
4 changed files with 29 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
corelib/src/OccupancyGrid.cpp
View File

@@ -98,8 +98,8 @@ void OccupancyGrid::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kGridMaxObstacleHeight(), maxObstacleHeight_);
Parameters::parse(parameters, Parameters::kGridMinGroundHeight(), minGroundHeight_);
Parameters::parse(parameters, Parameters::kGridMaxGroundHeight(), maxGroundHeight_);
if(maxGroundHeight_ > 0 &&
maxObstacleHeight_ > 0 &&
if(maxGroundHeight_ != 0.0f &&
maxObstacleHeight_ != 0.0f &&
maxObstacleHeight_ < maxGroundHeight_)
{
UWARN("\"%s\" should be lower than \"%s\", setting \"%s\" to 0 (disabled).",
@@ -108,8 +108,8 @@ void OccupancyGrid::parseParameters(const ParametersMap & parameters)
Parameters::kGridMaxObstacleHeight().c_str());
maxObstacleHeight_ = 0;
}
if(maxGroundHeight_ > 0 &&
minGroundHeight_ > 0 &&
if(maxGroundHeight_ != 0.0f &&
minGroundHeight_ != 0.0f &&
maxGroundHeight_ < minGroundHeight_)
{
UWARN("\"%s\" should be lower than \"%s\", setting \"%s\" to 0 (disabled).",
@@ -175,9 +175,9 @@ void OccupancyGrid::parseParameters(const ParametersMap & parameters)
}
}
if(maxGroundHeight_ <= 0.0f && !normalsSegmentation_)
if(maxGroundHeight_ == 0.0f && !normalsSegmentation_)
{
UWARN("\"%s\" should be greater than 0 if not using normals "
UWARN("\"%s\" should be not equal to 0 if not using normals "
"segmentation approach. Setting it to cell size (%f).",
Parameters::kGridMaxGroundHeight().c_str(), cellSize_);
maxGroundHeight_ = cellSize_;