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Grid: added "grid_eroded" parameter

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Mathieu Labbe
2015-03-20 14:04:14 -04:00
parent c58a11da0b
commit 227dc7c1ba
3 changed files with 16 additions and 5 deletions
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src/CoreWrapper.cpp
+10 -4
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@@ -99,6 +99,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
projMaxHeight_(2.0), // meters projMaxHeight_(2.0), // meters
gridCellSize_(0.05), // meters gridCellSize_(0.05), // meters
gridSize_(0), // meters gridSize_(0), // meters
gridEroded_(false),
mapFilterRadius_(0.5), mapFilterRadius_(0.5),
mapFilterAngle_(30.0), // degrees mapFilterAngle_(30.0), // degrees
mapCacheCleanup_(true), mapCacheCleanup_(true),
@@ -175,6 +176,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
// common grid map stuff // common grid map stuff
pnh.param("grid_cell_size", gridCellSize_, gridCellSize_); // m pnh.param("grid_cell_size", gridCellSize_, gridCellSize_); // m
pnh.param("grid_size", gridSize_, gridSize_); // m pnh.param("grid_size", gridSize_, gridSize_); // m
pnh.param("grid_eroded", gridEroded_, gridEroded_);
// common map stuff // common map stuff
pnh.param("map_filter_radius", mapFilterRadius_, mapFilterRadius_); pnh.param("map_filter_radius", mapFilterRadius_, mapFilterRadius_);
@@ -1426,7 +1428,8 @@ bool CoreWrapper::getProjMapCallback(nav_msgs::GetMap::Request &req, nav_msgs::
projMaps_, projMaps_,
gridCellSize_, gridCellSize_,
xMin, yMin, xMin, yMin,
gridSize_); gridSize_,
gridEroded_);
// clear memory if no one subscribed // clear memory if no one subscribed
if(mapCacheCleanup_ && projMapPub_.getNumSubscribers() == 0) if(mapCacheCleanup_ && projMapPub_.getNumSubscribers() == 0)
@@ -1475,7 +1478,8 @@ bool CoreWrapper::getGridMapCallback(nav_msgs::GetMap::Request &req, nav_msgs::
gridMaps_, gridMaps_,
gridCellSize_, gridCellSize_,
xMin, yMin, xMin, yMin,
gridSize_); gridSize_,
gridEroded_);
// clear memory if no one subscribed // clear memory if no one subscribed
if(mapCacheCleanup_ && gridMapPub_.getNumSubscribers() == 0) if(mapCacheCleanup_ && gridMapPub_.getNumSubscribers() == 0)
@@ -2243,7 +2247,8 @@ void CoreWrapper::publishMaps(
projMaps_, projMaps_,
gridCellSize_, gridCellSize_,
xMin, yMin, xMin, yMin,
gridSize_); gridSize_,
gridEroded_);
if(!pixels.empty()) if(!pixels.empty())
{ {
@@ -2286,7 +2291,8 @@ void CoreWrapper::publishMaps(
gridMaps_, gridMaps_,
gridCellSize_, gridCellSize_,
xMin, yMin, xMin, yMin,
gridSize_); gridSize_,
gridEroded_);
if(!pixels.empty()) if(!pixels.empty())
{ {
src/CoreWrapper.h
+1
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@@ -244,6 +244,7 @@ private:
double projMaxHeight_; double projMaxHeight_;
double gridCellSize_; double gridCellSize_;
double gridSize_; double gridSize_;
bool gridEroded_;
double mapFilterRadius_; double mapFilterRadius_;
double mapFilterAngle_; double mapFilterAngle_;
bool mapCacheCleanup_; bool mapCacheCleanup_;
src/GridMapAssemblerNode.cpp
+5 -1
View File
@@ -49,6 +49,7 @@ public:
GridMapAssembler() : GridMapAssembler() :
gridCellSize_(0.05), // meters gridCellSize_(0.05), // meters
mapSize_(0), // meters mapSize_(0), // meters
eroded_(false),
filterRadius_(0.5), filterRadius_(0.5),
filterAngle_(30.0) // degrees filterAngle_(30.0) // degrees
{ {
@@ -57,6 +58,7 @@ public:
pnh.param("map_size", mapSize_, mapSize_); // m pnh.param("map_size", mapSize_, mapSize_); // m
pnh.param("filter_radius", filterRadius_, filterRadius_); pnh.param("filter_radius", filterRadius_, filterRadius_);
pnh.param("filter_angle", filterAngle_, filterAngle_); pnh.param("filter_angle", filterAngle_, filterAngle_);
pnh.param("eroded", eroded_, eroded_);
UASSERT(gridCellSize_ > 0.0); UASSERT(gridCellSize_ > 0.0);
UASSERT(mapSize_ >= 0.0); UASSERT(mapSize_ >= 0.0);
@@ -117,7 +119,8 @@ public:
gridMaps_, gridMaps_,
gridCellSize_, gridCellSize_,
xMin, yMin, xMin, yMin,
mapSize_); mapSize_,
eroded_);
if(!pixels.empty()) if(!pixels.empty())
{ {
@@ -169,6 +172,7 @@ public:
private: private:
double gridCellSize_; double gridCellSize_;
double mapSize_; double mapSize_;
bool eroded_;
double filterRadius_; double filterRadius_;
double filterAngle_; double filterAngle_;