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improve flood fill and move it to update function (#727)

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* add flood fill filter

* change to use unordoned_multiset

* remove recursivity in flood fill and move the flood fill into the update

* Refactoring of OctoMap constructors (keeping only one). Simplified floodfill parameters to only one and added it to UI.

* Fixed ray tracing not done in local 3D maps (OctoMap)

Co-authored-by: MarcLeclercGit <[email protected]>
Co-authored-by: matlabbe <[email protected]>
This commit is contained in:
chameau5050
2021-05-30 10:12:07 -04:00
committed by GitHub
co-authored by MarcLeclercGit matlabbe
parent b7c2f6801b
commit f94f9cbb9b
7 changed files with 431 additions and 321 deletions
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guilib/src/DatabaseViewer.cpp
+3 -1
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@@ -4907,7 +4907,9 @@ void DatabaseViewer::update(int value,
localMapsInfo.begin()->second.first > 0.0f)
{
//create local octomap
octomap = new OctoMap(localMapsInfo.begin()->second.first);
ParametersMap params;
params.insert(ParametersPair(Parameters::kGridCellSize(), uNumber2Str(localMapsInfo.begin()->second.first)));
octomap = new OctoMap(params);
octomap->addToCache(data.id(), localMaps.begin()->second.first.first, localMaps.begin()->second.first.second, localMaps.begin()->second.second, localMapsInfo.begin()->second.second);
octomap->update(poses);
}