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Updated octomap parameters

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matlabbe
2016-07-16 11:27:54 -04:00
parent e4805591cd
commit 20e836b56b
2 changed files with 36 additions and 15 deletions
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src/MapsManager.h
+4 -2
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@@ -87,7 +87,7 @@ private:
double mapFilterRadius_;
double mapFilterAngle_;
bool mapCacheCleanup_;
bool negativePosesIgnored;
bool negativePosesIgnored_;
ros::Publisher cloudMapPub_;
ros::Publisher projMapPub_;
@@ -96,7 +96,7 @@ private:
ros::Publisher octoMapPubBin_;
ros::Publisher octoMapPubFull_;
ros::Publisher octoMapCloud_;
ros::Publisher octoMapCloudGround_;
ros::Publisher octoMapEmptySpace_;
ros::Publisher octoMapProj_;
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > clouds_;
@@ -106,6 +106,8 @@ private:
std::map<int, std::pair<cv::Mat, cv::Mat> > gridMaps_; // <ground, obstacles>
rtabmap::OctoMap * octomap_;
int octomapTreeDepth_;
bool octomapGroundIsObstacle_;
};
#endif /* MAPSMANAGER_H_ */