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Grid/OctoMap: updated update() interface to return boolean to know if the map has been updated

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matlabbe
2019-03-19 14:10:30 -04:00
parent c0a7c3a344
commit e8e3649f24
4 changed files with 822 additions and 812 deletions
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2
corelib/include/rtabmap/core/OccupancyGrid.h
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@@ -97,7 +97,7 @@ public:
const cv::Mat & ground,
const cv::Mat & obstacles,
const cv::Mat & empty);
void update(const std::map<int, Transform> & poses);
bool update(const std::map<int, Transform> & poses); // return true if map has changed
cv::Mat getMap(float & xMin, float & yMin) const;
cv::Mat getProbMap(float & xMin, float & yMin) const;
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & getMapGround() const {return assembledGround_;}

2
corelib/include/rtabmap/core/OctoMap.h
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@@ -185,7 +185,7 @@ public:
const cv::Mat & obstacles,
const cv::Mat & empty,
const cv::Point3f & viewPoint);
void update(const std::map<int, Transform> & poses);
bool update(const std::map<int, Transform> & poses); // return true if map has changed
const RtabmapColorOcTree * octree() const {return octree_;}