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CoreWrapper: setting RGBD/ProximityPathMaxNeighbors to 10 by default when not subscribing to any camera input (only 2d scan input)

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matlabbe
2019-10-14 21:59:32 -04:00
parent 13e247a4c9
commit 57c9cb414c
1 changed files with 21 additions and 5 deletions
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src/CoreWrapper.cpp
+21 -5
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@@ -475,7 +475,7 @@ void CoreWrapper::onInit()
} }
} }
} }
ParametersMap modifiedParameters = parameters_;
// Add all other parameters (not copied if already exists) // Add all other parameters (not copied if already exists)
parameters_.insert(allParameters.begin(), allParameters.end()); parameters_.insert(allParameters.begin(), allParameters.end());
@@ -592,7 +592,7 @@ void CoreWrapper::onInit()
} }
else if(publishTf) else if(publishTf)
{ {
UWARN("Graph optimization is disabled (%s=0), the tf between frame \"%s\" and odometry frame will not be published. You can safely ignore this warning if you are using map_optimizer node.", NODELET_WARN("Graph optimization is disabled (%s=0), the tf between frame \"%s\" and odometry frame will not be published. You can safely ignore this warning if you are using map_optimizer node.",
Parameters::kOptimizerIterations().c_str(), mapFrameId_.c_str()); Parameters::kOptimizerIterations().c_str(), mapFrameId_.c_str());
} }
@@ -623,7 +623,7 @@ void CoreWrapper::onInit()
!this->isSubscribedToRGB() && !this->isSubscribedToRGB() &&
(this->isSubscribedToScan2d() || this->isSubscribedToScan3d() || this->isSubscribedToOdom())) (this->isSubscribedToScan2d() || this->isSubscribedToScan3d() || this->isSubscribedToOdom()))
{ {
ROS_WARN("There is no image subscription, bag-of-words loop closure detection will be disabled..."); NODELET_WARN("There is no image subscription, bag-of-words loop closure detection will be disabled...");
int kpMaxFeatures = Parameters::defaultKpMaxFeatures(); int kpMaxFeatures = Parameters::defaultKpMaxFeatures();
int registrationStrategy = Parameters::defaultRegStrategy(); int registrationStrategy = Parameters::defaultRegStrategy();
Parameters::parse(parameters_, Parameters::kKpMaxFeatures(), kpMaxFeatures); Parameters::parse(parameters_, Parameters::kKpMaxFeatures(), kpMaxFeatures);
@@ -632,14 +632,30 @@ void CoreWrapper::onInit()
if(kpMaxFeatures!= -1) if(kpMaxFeatures!= -1)
{ {
uInsert(parameters_, ParametersPair(Parameters::kKpMaxFeatures(), "-1")); uInsert(parameters_, ParametersPair(Parameters::kKpMaxFeatures(), "-1"));
ROS_WARN("Setting %s=-1 (bag-of-words disabled)", Parameters::kKpMaxFeatures().c_str()); NODELET_WARN("Setting %s=-1 (bag-of-words disabled)", Parameters::kKpMaxFeatures().c_str());
updateParams = true; updateParams = true;
} }
if((this->isSubscribedToScan2d() || this->isSubscribedToScan3d()) && registrationStrategy != 1) if((this->isSubscribedToScan2d() || this->isSubscribedToScan3d()) && registrationStrategy != 1)
{ {
uInsert(parameters_, ParametersPair(Parameters::kRegStrategy(), "1")); uInsert(parameters_, ParametersPair(Parameters::kRegStrategy(), "1"));
ROS_WARN("Setting %s=1 (ICP)", Parameters::kRegStrategy().c_str()); NODELET_WARN("Setting %s=1 (ICP)", Parameters::kRegStrategy().c_str());
updateParams = true; updateParams = true;
if(this->isSubscribedToScan2d())
{
if(modifiedParameters.find(Parameters::kRGBDProximityPathMaxNeighbors()) == modifiedParameters.end())
{
NODELET_WARN("Setting \"%s\" parameter to 10 (default 0) as \"subscribe_scan\" is "
"true and \"%s\" uses ICP. Proximity detection by space will be also done by merging close "
"scans. To disable, set \"%s\" to 0. To suppress this warning, "
"add <param name=\"%s\" type=\"string\" value=\"10\"/>",
Parameters::kRGBDProximityPathMaxNeighbors().c_str(),
Parameters::kRegStrategy().c_str(),
Parameters::kRGBDProximityPathMaxNeighbors().c_str(),
Parameters::kRGBDProximityPathMaxNeighbors().c_str());
uInsert(parameters_, ParametersPair(Parameters::kRGBDProximityPathMaxNeighbors(), "10"));
}
}
} }
if(updateParams) if(updateParams)
{ {