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Merge branch 'master' of https://github.com/introlab/rtabmap_ros into devel

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matlabbe
2018-01-17 12:13:48 -05:00
parent 8860afbc83 37b85a5c7a
commit ab305af23e
3 changed files with 5 additions and 3 deletions
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src/MapsManager.cpp
+2 -2
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@@ -110,7 +110,7 @@ void MapsManager::init(ros::NodeHandle & nh, ros::NodeHandle & pnh, const std::s
#ifdef RTABMAP_OCTOMAP
pnh.param("octomap_occupancy_thr", octomapOccupancyThr_, octomapOccupancyThr_);
UASSERT(octomapOccupancyThr_>=0.0 && octomapOccupancyThr_<=1.0);
octomap_ = new OctoMap(occupancyGrid_->getCellSize(), octomapOccupancyThr_);
octomap_ = new OctoMap(occupancyGrid_->getCellSize(), octomapOccupancyThr_, occupancyGrid_->isFullUpdate());
pnh.param("octomap_tree_depth", octomapTreeDepth_, octomapTreeDepth_);
if(octomapTreeDepth_ > 16)
{
@@ -287,7 +287,7 @@ void MapsManager::setParameters(const rtabmap::ParametersMap & parameters)
delete octomap_;
octomap_ = 0;
}
octomap_ = new OctoMap(occupancyGrid_->getCellSize(), octomapOccupancyThr_);
octomap_ = new OctoMap(occupancyGrid_->getCellSize(), octomapOccupancyThr_, occupancyGrid_->isFullUpdate());
#endif
#endif
}