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

obstacles_detection: Added "detect_flat_obstacles" parameter (default false)

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