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rtabmap: updated related parameters if scan_cloud_is_2d is true

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matlabbe
2022-12-12 22:31:48 -08:00
parent d09faa9385
commit 7b2c6354c6
1 changed files with 4 additions and 3 deletions
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src/CoreWrapper.cpp
+4 -3
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@@ -488,7 +488,7 @@ void CoreWrapper::onInit()
Parameters::kGridSensor().c_str());
parameters_.insert(ParametersPair(Parameters::kGridRangeMax(), "0"));
}
if(subscribeScan3d && parameters_.find(Parameters::kIcpPointToPlaneRadius()) == parameters_.end())
if(subscribeScan3d && !scanCloudIs2d_ && parameters_.find(Parameters::kIcpPointToPlaneRadius()) == parameters_.end())
{
NODELET_INFO("Setting \"%s\" parameter to 0 (default %f) as \"subscribe_scan_cloud\" is true.",
Parameters::kIcpPointToPlaneRadius().c_str(),
@@ -500,13 +500,14 @@ void CoreWrapper::onInit()
if(parameters_.find(Parameters::kRGBDProximityPathMaxNeighbors()) == parameters_.end() &&
(regStrategy == Registration::kTypeIcp || regStrategy == Registration::kTypeVisIcp))
{
if(subscribeScan2d)
if(subscribeScan2d || (subscribeScan3d && scanCloudIs2d_))
{
NODELET_WARN("Setting \"%s\" parameter to 10 (default 0) as \"subscribe_scan\" is "
NODELET_WARN("Setting \"%s\" parameter to 10 (default 0) as \"%s\" 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(),
subscribeScan2d?"subscribe_scan":"scan_cloud_is_2d",
Parameters::kRegStrategy().c_str(),
Parameters::kRGBDProximityPathMaxNeighbors().c_str(),
Parameters::kRGBDProximityPathMaxNeighbors().c_str());