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MapAssembler: added regenerate_local_grids option

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This commit is contained in:
matlabbe
2020-11-16 18:05:26 -05:00
parent f748a67184
commit c592df2f47
2 changed files with 25 additions and 2 deletions
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src/MapAssemblerNode.cpp
+11 -2
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@@ -50,13 +50,15 @@ class MapAssembler
{
public:
MapAssembler(int & argc, char** argv)
MapAssembler(int & argc, char** argv) :
localGridsRegenerated_(false)
{
ros::NodeHandle pnh("~");
ros::NodeHandle nh;
std::string configPath;
pnh.param("config_path", configPath, configPath);
pnh.param("regenerate_local_grids", localGridsRegenerated_, localGridsRegenerated_);
//parameters
rtabmap::ParametersMap parameters;
@@ -188,7 +190,12 @@ public:
msg->nodes[i].depth.size() ||
msg->nodes[i].laserScan.size())
{
uInsert(nodes_, std::make_pair(msg->nodes[i].id, rtabmap_ros::nodeDataFromROS(msg->nodes[i])));
Signature data = rtabmap_ros::nodeDataFromROS(msg->nodes[i]);
if(localGridsRegenerated_)
{
data.sensorData().setOccupancyGrid(cv::Mat(), cv::Mat(), cv::Mat(), 0, cv::Point3f());
}
uInsert(nodes_, std::make_pair(msg->nodes[i].id, data));
}
}
@@ -229,6 +236,8 @@ private:
ros::Subscriber mapDataTopic_;
ros::ServiceServer resetService_;
bool localGridsRegenerated_;
};