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Added max ground height parameter for MapsManagerand obstacles_detection

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Mathieu Labbe
2016-04-15 17:44:36 -04:00
parent d730c60342
commit 7e5c7d7462
3 changed files with 41 additions and 12 deletions
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src/nodelets/obstacles_detection.cpp
+9 -3
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@@ -72,6 +72,7 @@ public:
clusterRadius_(0.05),
minClusterSize_(20),
maxObstaclesHeight_(0.0), // if<=0.0 -> disabled
maxGroundHeight_(0.0), // if<=0.0 -> disabled, used only if detect_flat_obstacles is true
segmentFlatObstacles_(false),
waitForTransform_(false),
optimizeForCloseObjects_(false)
@@ -105,6 +106,7 @@ private:
}
pnh.param("min_cluster_size", minClusterSize_, minClusterSize_);
pnh.param("max_obstacles_height", maxObstaclesHeight_, maxObstaclesHeight_);
pnh.param("max_ground_height", maxGroundHeight_, maxGroundHeight_);
pnh.param("detect_flat_obstacles", segmentFlatObstacles_, segmentFlatObstacles_);
pnh.param("wait_for_transform", waitForTransform_, waitForTransform_);
pnh.param("optimize_for_close_objects", optimizeForCloseObjects_, optimizeForCloseObjects_);
@@ -177,7 +179,8 @@ private:
groundNormalAngle_,
clusterRadius_,
minClusterSize_,
segmentFlatObstacles_);
segmentFlatObstacles_,
maxGroundHeight_);
if(groundPub_.getNumSubscribers() && ground.get() && ground->size())
{
@@ -211,7 +214,8 @@ private:
groundNormalAngle_,
clusterRadius_,
minClusterSize_,
segmentFlatObstacles_);
segmentFlatObstacles_,
maxGroundHeight_);
if(groundPub_.getNumSubscribers() && ground.get() && ground->size())
{
@@ -234,7 +238,8 @@ private:
2.*groundNormalAngle_,
3.*clusterRadius_,
minClusterSize_,
segmentFlatObstacles_);
segmentFlatObstacles_,
maxGroundHeight_);
if(groundPub_.getNumSubscribers() && ground.get() && ground->size())
{
@@ -286,6 +291,7 @@ private:
double clusterRadius_;
int minClusterSize_;
double maxObstaclesHeight_;
double maxGroundHeight_;
bool segmentFlatObstacles_;
bool waitForTransform_;
bool optimizeForCloseObjects_;