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MapsManager: always fill unknown cells for negative 2d scans

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matlabbe
2016-08-31 12:45:55 -04:00
parent 425a78298d
commit 42661b6673
1 changed files with 4 additions and 0 deletions
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src/MapsManager.cpp
+4
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@@ -276,6 +276,10 @@ void MapsManager::setParameters(const rtabmap::ParametersMap & parameters)
// don't use grid cell size from parameters as we use grid_cell_size ros param // don't use grid cell size from parameters as we use grid_cell_size ros param
uInsert(parameters_, ParametersPair(Parameters::kGridCellSize(), uNumber2Str(gridCellSize_))); uInsert(parameters_, ParametersPair(Parameters::kGridCellSize(), uNumber2Str(gridCellSize_)));
// For negative laser scans, always fill empty space
uInsert(parameters_, ParametersPair(Parameters::kGridScan2dUnknownSpaceFilled(), "true"));
occupancyGrid_->parseParameters(parameters_); occupancyGrid_->parseParameters(parameters_);
} }