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Parameters: added Grid/FullUpdate (default true). Updated how occupancy grid is updated after loop closure. OctoMap: added tree depth argument when creating 2d map, added full update argument on constructor (default false). MainWindow: using OccupancyGrid object instead of keeping in cache local grids (we can have actual time to update the global grid).

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matlabbe
2017-04-07 18:31:11 -04:00
parent 6bfce63060
commit b7dbf27931
13 changed files with 831 additions and 676 deletions
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guilib/src/DatabaseViewer.cpp
+5 -1
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@@ -2673,6 +2673,10 @@ void DatabaseViewer::update(int value,
localMaps,
ui_->doubleSpinBox_gridCellSize->value(),
xMin, yMin);
//OccupancyGrid grid(ui_->parameters_toolbox->getParameters());
//grid.addToCache(data.id(), localMaps.begin()->second.first, localMaps.begin()->second.second);
//grid.update(poses);
//map8S = grid.getMap(xMin, yMin);
}
if(!map8S.empty())
{
@@ -3892,7 +3896,7 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
#ifdef RTABMAP_OCTOMAP
if(ui_->checkBox_octomap->isChecked())
{
map = octomap_->createProjectionMap(xMin, yMin, cell, 0);
map = octomap_->createProjectionMap(xMin, yMin, cell, 0, ui_->spinBox_grid_depth->value());
}
else
#endif