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Disable local scan matching if registration doesn't use ICP

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matlabbe
2017-07-07 19:42:40 -04:00
parent 2265644e28
commit 1a1919e5e0
1 changed files with 8 additions and 4 deletions
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src/CoreWrapper.cpp
+8 -4
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@@ -55,6 +55,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/Version.h> #include <rtabmap/core/Version.h>
#include <rtabmap/core/OccupancyGrid.h> #include <rtabmap/core/OccupancyGrid.h>
#include <rtabmap/core/DBDriver.h> #include <rtabmap/core/DBDriver.h>
#include <rtabmap/core/Registration.h>
#ifdef WITH_OCTOMAP_ROS #ifdef WITH_OCTOMAP_ROS
#ifdef RTABMAP_OCTOMAP #ifdef RTABMAP_OCTOMAP
@@ -331,16 +332,19 @@ void CoreWrapper::onInit()
Parameters::kGridFromDepth().c_str()); Parameters::kGridFromDepth().c_str());
parameters_.insert(ParametersPair(Parameters::kGridFromDepth(), "false")); parameters_.insert(ParametersPair(Parameters::kGridFromDepth(), "false"));
} }
int regStrategy = 0;
Parameters::parse(parameters_, Parameters::kRegStrategy(), regStrategy);
if(subscribeScan2d && if(subscribeScan2d &&
parameters_.find(Parameters::kRGBDProximityPathMaxNeighbors()) == parameters_.end() && parameters_.find(Parameters::kRGBDProximityPathMaxNeighbors()) == parameters_.end() &&
(parameters_.find(Parameters::kRGBDProximityBySpace()) == parameters_.end() || (regStrategy == Registration::kTypeIcp || regStrategy == Registration::kTypeVisIcp))
uStr2Bool(parameters_.at(Parameters::kRGBDProximityBySpace()))))
{ {
NODELET_WARN("Setting \"%s\" parameter to 10 (default 0) as \"subscribe_scan\" is " NODELET_WARN("Setting \"%s\" parameter to 10 (default 0) as \"subscribe_scan\" is "
"true. Proximity detection by space will be also done by merging close " "true and \"%s\" uses ICP. Proximity detection by space will be also done by merging close "
"scans. To disable, set to 0. To suppress this warning, " "scans. To disable, set \"%s\" to 0. To suppress this warning, "
"add <param name=\"%s\" type=\"string\" value=\"10\"/>", "add <param name=\"%s\" type=\"string\" value=\"10\"/>",
Parameters::kRGBDProximityPathMaxNeighbors().c_str(), Parameters::kRGBDProximityPathMaxNeighbors().c_str(),
Parameters::kRegStrategy().c_str(),
Parameters::kRGBDProximityPathMaxNeighbors().c_str(),
Parameters::kRGBDProximityPathMaxNeighbors().c_str()); Parameters::kRGBDProximityPathMaxNeighbors().c_str());
parameters_.insert(ParametersPair(Parameters::kRGBDProximityPathMaxNeighbors(), "10")); parameters_.insert(ParametersPair(Parameters::kRGBDProximityPathMaxNeighbors(), "10"));
} }