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obstacles_detection: Added "detect_flat_obstacles" parameter (default false)

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matlabbe
2016-04-13 17:45:08 -04:00
parent 157ae27e2f
commit d730c60342
1 changed files with 9 additions and 3 deletions
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src/nodelets/obstacles_detection.cpp
+9 -3
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@@ -72,6 +72,7 @@ public:
clusterRadius_(0.05),
minClusterSize_(20),
maxObstaclesHeight_(0.0), // if<=0.0 -> disabled
segmentFlatObstacles_(false),
waitForTransform_(false),
optimizeForCloseObjects_(false)
{}
@@ -104,6 +105,7 @@ private:
}
pnh.param("min_cluster_size", minClusterSize_, minClusterSize_);
pnh.param("max_obstacles_height", maxObstaclesHeight_, maxObstaclesHeight_);
pnh.param("detect_flat_obstacles", segmentFlatObstacles_, segmentFlatObstacles_);
pnh.param("wait_for_transform", waitForTransform_, waitForTransform_);
pnh.param("optimize_for_close_objects", optimizeForCloseObjects_, optimizeForCloseObjects_);
@@ -174,7 +176,8 @@ private:
normalKSearch_,
groundNormalAngle_,
clusterRadius_,
minClusterSize_);
minClusterSize_,
segmentFlatObstacles_);
if(groundPub_.getNumSubscribers() && ground.get() && ground->size())
{
@@ -207,7 +210,8 @@ private:
normalKSearch_,
groundNormalAngle_,
clusterRadius_,
minClusterSize_);
minClusterSize_,
segmentFlatObstacles_);
if(groundPub_.getNumSubscribers() && ground.get() && ground->size())
{
@@ -229,7 +233,8 @@ private:
normalKSearch_,
2.*groundNormalAngle_,
3.*clusterRadius_,
minClusterSize_);
minClusterSize_,
segmentFlatObstacles_);
if(groundPub_.getNumSubscribers() && ground.get() && ground->size())
{
@@ -281,6 +286,7 @@ private:
double clusterRadius_;
int minClusterSize_;
double maxObstaclesHeight_;
bool segmentFlatObstacles_;
bool waitForTransform_;
bool optimizeForCloseObjects_;