i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-03 16:27:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
matlabbe
2018-01-17 12:13:48 -05:00
parent 8860afbc83 37b85a5c7a
commit ab305af23e
3 changed files with 5 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
launch/demo/demo_robot_mapping.launch
+2
View File
@@ -46,6 +46,8 @@
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="Grid/FromDepth" type="string" value="false"/>
<param name="Mem/STMSize" type="string" value="30"/> <!--increased to 30 to avoid adding too many loop closures on just seen locations -->
<param name="RGBD/LocalRadius" type="string" value="5"/> <!--limit length of proximity detections -->
<!-- localization mode -->
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
launch/rtabmap.launch
+1 -1
View File
@@ -291,7 +291,7 @@
<remap from="cloud" to="voxel_cloud" />
<param name="decimation" type="double" value="2"/>
<param name="voxel_size" type="double" value="0.02"/>
<param name="voxel_size" type="double" value="0.0"/>
<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
</node>
src/MapsManager.cpp
+2 -2
View File
@@ -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
}