i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

fixed octomap ground cells removed when updating graph

Browse Source
This commit is contained in:
matlabbe
2016-07-17 15:37:08 -04:00
parent b5e5e9508c
commit d4e5cfb548
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
corelib/src/OctoMap.cpp
View File

@@ -114,7 +114,7 @@ void OctoMap::update(const std::map<int, Transform> & poses)
octomap::OcTreeKey key; octomap::OcTreeKey key;
if(newOcTree->coordToKeyChecked(cvPt.x, cvPt.y, cvPt.z, key)) if(newOcTree->coordToKeyChecked(cvPt.x, cvPt.y, cvPt.z, key))
{ {
octomap::ColorOcTreeNode * n = newOcTree->updateNode(key, true); octomap::ColorOcTreeNode * n = newOcTree->updateNode(key, iter->second.isObstacle_);
if(n) if(n)
{ {
++copied; ++copied;