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OctoMap: fixed empty cells not all added to global occupancy grid

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matlabbe
2021-05-26 16:27:49 -04:00
parent ada3e75005
commit c1492533c3
1 changed files with 2 additions and 2 deletions
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4
corelib/src/OctoMap.cpp
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@@ -817,7 +817,7 @@ bool OctoMap::update(const std::map<int, Transform> & poses)
updateMinMax(point);
RtabmapColorOcTreeNode * n = octree_->updateNode(key, false);
RtabmapColorOcTreeNode * n = octree_->updateNode(key, false, true);
if(n && n->getOccupancyType() == RtabmapColorOcTreeNode::kTypeUnknown)
{
n->setOccupancyType(RtabmapColorOcTreeNode::kTypeEmpty);
@@ -829,7 +829,7 @@ bool OctoMap::update(const std::map<int, Transform> & poses)
}
}
}
//octree_->updateInnerOccupancy();
octree_->updateInnerOccupancy();
}
// compress map