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MapsManager: fixed ignored local grids with only empty cells

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This commit is contained in:
matlabbe
2018-11-16 19:20:10 -05:00
parent 40b08a359a
commit 54c455f82a
2 changed files with 5 additions and 3 deletions
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src/CoreWrapper.cpp
+1
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@@ -196,6 +196,7 @@ void CoreWrapper::onInit()
groundTruthBaseFrameId_.c_str());
}
NODELET_INFO("rtabmap: map_frame_id = %s", mapFrameId_.c_str());
NODELET_INFO("rtabmap: use_action_for_goal = %s", useActionForGoal_?"true":"false");
NODELET_INFO("rtabmap: tf_delay = %f", tfDelay);
NODELET_INFO("rtabmap: tf_tolerance = %f", tfTolerance);
NODELET_INFO("rtabmap: odom_sensor_sync = %s", odomSensorSync_?"true":"false");
src/MapsManager.cpp
+4 -3
View File
@@ -635,7 +635,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
std::map<int, std::pair<std::pair<cv::Mat, cv::Mat>, cv::Mat> >::iterator mter = gridMaps_.find(iter->first);
if(mter != gridMaps_.end())
{
if(!mter->second.first.first.empty() || !mter->second.first.second.empty())
if(!mter->second.first.first.empty() || !mter->second.first.second.empty() || !mter->second.second.empty())
{
occupancyGrid_->addToCache(iter->first, mter->second.first.first, mter->second.first.second, mter->second.second);
}
@@ -653,11 +653,12 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
if(mter != gridMaps_.end() && pter!=gridMapsViewpoints_.end())
{
if((mter->second.first.first.empty() || mter->second.first.first.channels() > 2) &&
(mter->second.first.second.empty() || mter->second.first.second.channels() > 2))
(mter->second.first.second.empty() || mter->second.first.second.channels() > 2) &&
(mter->second.second.empty() || mter->second.second.channels() > 2))
{
octomap_->addToCache(iter->first, mter->second.first.first, mter->second.first.second, mter->second.second, pter->second);
}
else if(!mter->second.first.first.empty() && !mter->second.first.second.empty())
else if(!mter->second.first.first.empty() && !mter->second.first.second.empty() && !mter->second.second.empty())
{
ROS_WARN("Node %d: Cannot update octomap with 2D occupancy grids. "
"Do \"$ rosrun rtabmap_ros rtabmap --params | grep Grid\" to see "