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Fixed https://github.com/introlab/rtabmap_ros/issues/1024

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matlabbe
2023-09-04 11:55:52 -07:00
parent 6a5b844bac
commit e56e0c37f7
1 changed files with 7 additions and 4 deletions
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11
corelib/src/OccupancyGrid.cpp
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@@ -377,7 +377,7 @@ void OccupancyGrid::createLocalMap(
} }
else else
{ {
UWARN("Cannot create local map, scan is empty (node=%d, %s=0).", node.id(), Parameters::kGridSensor().c_str()); UWARN("Cannot create local map from scan: scan is empty (node=%d, %s=%d).", node.id(), Parameters::kGridSensor().c_str(), occupancySensor_);
} }
} }
@@ -457,9 +457,12 @@ void OccupancyGrid::createLocalMap(
if(occupancySensor_ == 2) if(occupancySensor_ == 2)
{ {
// backup // backup
scanGroundCells = groundCells.clone(); scanGroundCells = groundCells;
scanObstacleCells = obstacleCells.clone(); scanObstacleCells = obstacleCells;
scanEmptyCells = emptyCells.clone(); scanEmptyCells = emptyCells;
groundCells = cv::Mat();
obstacleCells = cv::Mat();
emptyCells = cv::Mat();
} }
createLocalMap(LaserScan(util3d::laserScanFromPointCloud(*cloud, indices), 0, 0.0f), node.getPose(), groundCells, obstacleCells, emptyCells, viewPoint); createLocalMap(LaserScan(util3d::laserScanFromPointCloud(*cloud, indices), 0, 0.0f), node.getPose(), groundCells, obstacleCells, emptyCells, viewPoint);