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OccupancyGrid: added Grid/Footprint*** parameters, templated segmentCloud() function, added Grid/ClusterRadius parameter. Parameters: fixed getDefaultParameters(group) function to correctly compare groups.

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matlabbe
2016-08-31 12:43:54 -04:00
parent 6fe7d5a856
commit c404234635
10 changed files with 522 additions and 114 deletions
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corelib/src/Parameters.cpp
+9 -5
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@@ -186,27 +186,31 @@ rtabmap::ParametersMap Parameters::getDefaultOdometryParameters(bool stereo, boo
return odomParameters;
}
ParametersMap Parameters::getDefaultParameters(const std::string & group)
ParametersMap Parameters::getDefaultParameters(const std::string & groupIn)
{
rtabmap::ParametersMap parameters;
const rtabmap::ParametersMap & defaultParameters = rtabmap::Parameters::getDefaultParameters();
for(rtabmap::ParametersMap::const_iterator iter=defaultParameters.begin(); iter!=defaultParameters.end(); ++iter)
{
if(iter->first.compare(group) == 0)
UASSERT(uSplit(iter->first, '/').size() == 2);
std::string group = uSplit(iter->first, '/').front();
if(group.compare(groupIn) == 0)
{
parameters.insert(*iter);
}
}
UASSERT_MSG(parameters.size(), uFormat("No parameters found for group %s!", group.c_str()).c_str());
UASSERT_MSG(parameters.size(), uFormat("No parameters found for group %s!", groupIn.c_str()).c_str());
return parameters;
}
ParametersMap Parameters::filterParameters(const ParametersMap & parameters, const std::string & group)
ParametersMap Parameters::filterParameters(const ParametersMap & parameters, const std::string & groupIn)
{
ParametersMap output;
for(rtabmap::ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
if(iter->first.compare(group) == 0)
UASSERT(uSplit(iter->first, '/').size() == 2);
std::string group = uSplit(iter->first, '/').front();
if(group.compare(groupIn) == 0)
{
output.insert(*iter);
}