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GridMap integration (#1082)

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* GridMap integration

* Updated with upstream changes

* updated with upstream changes

* some fixes
This commit is contained in:
matlabbe
2023-12-17 22:44:40 -08:00
committed by GitHub
parent 0748b91acc
commit 752e7524f5
6 changed files with 171 additions and 182 deletions
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rtabmap_util/src/nodelets/obstacles_detection.cpp
+4 -4
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@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/filters/filter.h>
#include <rtabmap/core/LocalGridMaker.h>
#include <tf/transform_listener.h>
@@ -40,7 +41,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap_conversions/MsgConversion.h>
#include "rtabmap/core/OccupancyGrid.h"
#include "rtabmap/utilite/UStl.h"
namespace rtabmap_util
@@ -226,7 +226,7 @@ private:
NODELET_ERROR("obstacles_detection: Parameter \"%s\" is true but map_frame_id is not set!", rtabmap::Parameters::kGridMapFrameProjection().c_str());
}
grid_.parseParameters(parameters);
localMapMaker_.parseParameters(parameters);
cloudSub_ = nh.subscribe("cloud", 1, &ObstaclesDetection::callback, this);
@@ -325,7 +325,7 @@ private:
inputCloud = rtabmap::util3d::transformPointCloud(inputCloud, localTransform);
pcl::IndicesPtr flatObstacles(new std::vector<int>);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = grid_.segmentCloud<pcl::PointXYZ>(
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = localMapMaker_.segmentCloud<pcl::PointXYZ>(
inputCloud,
pcl::IndicesPtr(new std::vector<int>),
pose,
@@ -441,7 +441,7 @@ private:
std::string mapFrameId_;
bool waitForTransform_;
rtabmap::OccupancyGrid grid_;
rtabmap::LocalGridMaker localMapMaker_;
bool mapFrameProjection_;
bool warned_;