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MapsManager: added "octomap_occupancy_thr"

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matlabbe
2016-09-01 20:33:42 -04:00
parent d0772d91ac
commit 8f5c50b3f0
2 changed files with 8 additions and 3 deletions
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include/rtabmap_ros/MapsManager.h
+1
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@@ -120,6 +120,7 @@ private:
rtabmap::OctoMap * octomap_;
int octomapTreeDepth_;
double octomapOccupancyThr_;
rtabmap::ParametersMap parameters_;
};
src/MapsManager.cpp
+7 -3
View File
@@ -69,12 +69,13 @@ MapsManager::MapsManager(bool usePublicNamespace) :
mapFilterRadius_(0.0),
mapFilterAngle_(30.0), // degrees
mapCacheCleanup_(true),
negativePosesIgnored_(true),
negativePosesIgnored_(false),
assembledObstacles_(new pcl::PointCloud<pcl::PointXYZRGB>),
assembledGround_(new pcl::PointCloud<pcl::PointXYZRGB>),
occupancyGrid_(new OccupancyGrid),
octomap_(0),
octomapTreeDepth_(16)
octomapTreeDepth_(16),
octomapOccupancyThr_(0.5)
{
ros::NodeHandle nh;
@@ -128,7 +129,9 @@ MapsManager::MapsManager(bool usePublicNamespace) :
#ifdef WITH_OCTOMAP_ROS
#ifdef RTABMAP_OCTOMAP
octomap_ = new OctoMap(gridCellSize_);
pnh.param("octomap_occupancy_thr", octomapOccupancyThr_, octomapOccupancyThr_);
UASSERT(octomapOccupancyThr_>=0.0 && octomapOccupancyThr_<=1.0);
octomap_ = new OctoMap(gridCellSize_, octomapOccupancyThr_);
pnh.param("octomap_tree_depth", octomapTreeDepth_, octomapTreeDepth_);
if(octomapTreeDepth_ > 16)
{
@@ -141,6 +144,7 @@ MapsManager::MapsManager(bool usePublicNamespace) :
octomapTreeDepth_ = 16;
}
ROS_INFO("%s(maps): octomap_tree_depth = %d", name.c_str(), octomapTreeDepth_);
ROS_INFO("%s(maps): octomap_occupancy_thr = %f", name.c_str(), octomapOccupancyThr_);
#endif
#endif