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removed "scan_inf_is_valid" parameter

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Mathieu Labbe
2015-03-27 19:03:11 -04:00
parent 4864b35775
commit 1528fb1cb4
3 changed files with 4 additions and 50 deletions
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launch/azimut3/az3_mapping_robot_nav.launch
+2 -3
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@@ -19,10 +19,9 @@
<param name="cloud_decimation" type="int" value="1"/> <!-- we already decimate in memory below -->
<param name="grid_eroded" type="bool" value="true"/>
<param name="grid_cell_size" type="double" value="0.05"/>
<param name="scan_inf_is_valid" type="bool" value="true"/>
<remap from="odom" to="/base_controller/odom"/>
<remap from="scan" to="/scan"/>
<remap from="scan" to="/base_scan"/>
<remap from="mapData" to="mapData"/>
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
@@ -80,7 +79,7 @@
<!-- ROS navigation stack move_base -->
<group ns="planner">
<remap from="base_scan" to="/scan"/>
<remap from="base_scan" to="/base_scan"/>
<remap from="obstacles_cloud" to="/obstacles_cloud"/>
<remap from="ground_cloud" to="/ground_cloud"/>
<remap from="map" to="/map"/>
src/CoreWrapper.cpp
-44
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@@ -90,7 +90,6 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
databasePath_(UDirectory::homeDir()+"/.ros/"+rtabmap::Parameters::getDefaultDatabaseName()),
waitForTransform_(false),
useActionForGoal_(false),
scanInfIsValid_(false),
cloudDecimation_(4),
cloudMaxDepth_(4.0), // meters
cloudVoxelSize_(0.05), // meters
@@ -163,9 +162,6 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
pnh.param("wait_for_transform", waitForTransform_, waitForTransform_);
pnh.param("use_action_for_goal", useActionForGoal_, useActionForGoal_);
// scan stuff
pnh.param("scan_inf_is_valid", scanInfIsValid_, scanInfIsValid_);
// cloud map stuff
pnh.param("cloud_decimation", cloudDecimation_, cloudDecimation_);
pnh.param("cloud_max_depth", cloudMaxDepth_, cloudMaxDepth_);
@@ -710,27 +706,7 @@ void CoreWrapper::commonDepthCallback(
//transform in frameId_ frame
sensor_msgs::PointCloud2 scanOut;
laser_geometry::LaserProjection projection;
if(scanInfIsValid_)
{
// Filter positive infinities ("Inf"s) to max_range.
float epsilon = 0.0001; // a tenth of a millimeter
sensor_msgs::LaserScan message = *scanMsg;
for( size_t i = 0; i < message.ranges.size(); i++ )
{
float range = message.ranges[ i ];
if( !std::isfinite( range ) && range > 0 )
{
message.ranges[ i ] = message.range_max - epsilon;
}
}
projection.transformLaserScanToPointCloud(frameId_, message, scanOut, tfListener_);
}
else
{
projection.transformLaserScanToPointCloud(frameId_, *scanMsg, scanOut, tfListener_);
}
pcl::PointCloud<pcl::PointXYZ> pclScan;
pcl::fromROSMsg(scanOut, pclScan);
scan = util3d::laserScanFromPointCloud(pclScan);
@@ -811,27 +787,7 @@ void CoreWrapper::commonStereoCallback(
//transform in frameId_ frame
sensor_msgs::PointCloud2 scanOut;
laser_geometry::LaserProjection projection;
if(scanInfIsValid_)
{
// Filter positive infinities ("Inf"s) to max_range.
float epsilon = 0.0001; // a tenth of a millimeter
sensor_msgs::LaserScan message = *scanMsg;
for( size_t i = 0; i < message.ranges.size(); i++ )
{
float range = message.ranges[ i ];
if( !std::isfinite( range ) && range > 0 )
{
message.ranges[ i ] = message.range_max - epsilon;
}
}
projection.transformLaserScanToPointCloud(frameId_, message, scanOut, tfListener_);
}
else
{
projection.transformLaserScanToPointCloud(frameId_, *scanMsg, scanOut, tfListener_);
}
pcl::PointCloud<pcl::PointXYZ> pclScan;
pcl::fromROSMsg(scanOut, pclScan);
scan = util3d::laserScanFromPointCloud(pclScan);
src/CoreWrapper.h
-1
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@@ -237,7 +237,6 @@ private:
bool useActionForGoal_;
// mapping stuff
bool scanInfIsValid_;
int cloudDecimation_;
double cloudMaxDepth_;
double cloudVoxelSize_;