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MapsManager: Added "grid_footprint_radius" parameter to clear obstacles under the path in the occupancy grid map

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matlabbe
2016-08-14 15:01:13 -04:00
parent b980adf8a6
commit ececc79cc8
2 changed files with 7 additions and 2 deletions
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include/rtabmap_ros/MapsManager.h
+1
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@@ -103,6 +103,7 @@ private:
double gridCellSize_; double gridCellSize_;
double gridSize_; double gridSize_;
bool gridEroded_; bool gridEroded_;
double footprintRadius_;
bool gridUnknownSpaceFilled_; bool gridUnknownSpaceFilled_;
double gridMaxUnknownSpaceFilledRange_; double gridMaxUnknownSpaceFilledRange_;
double mapFilterRadius_; double mapFilterRadius_;
src/MapsManager.cpp
+6 -2
View File
@@ -76,6 +76,7 @@ MapsManager::MapsManager(bool usePublicNamespace) :
gridCellSize_(0.05), // meters gridCellSize_(0.05), // meters
gridSize_(0), // meters gridSize_(0), // meters
gridEroded_(false), gridEroded_(false),
footprintRadius_(0.0),
gridUnknownSpaceFilled_(false), gridUnknownSpaceFilled_(false),
gridMaxUnknownSpaceFilledRange_(6.0), gridMaxUnknownSpaceFilledRange_(6.0),
mapFilterRadius_(0.0), mapFilterRadius_(0.0),
@@ -140,6 +141,7 @@ MapsManager::MapsManager(bool usePublicNamespace) :
} }
pnh.param("grid_size", gridSize_, gridSize_); // m pnh.param("grid_size", gridSize_, gridSize_); // m
pnh.param("grid_eroded", gridEroded_, gridEroded_); pnh.param("grid_eroded", gridEroded_, gridEroded_);
pnh.param("grid_footprint_radius", footprintRadius_, footprintRadius_);
pnh.param("grid_unknown_space_filled", gridUnknownSpaceFilled_, gridUnknownSpaceFilled_); pnh.param("grid_unknown_space_filled", gridUnknownSpaceFilled_, gridUnknownSpaceFilled_);
pnh.param("grid_unknown_space_filled_max_range", gridMaxUnknownSpaceFilledRange_, gridMaxUnknownSpaceFilledRange_); pnh.param("grid_unknown_space_filled_max_range", gridMaxUnknownSpaceFilledRange_, gridMaxUnknownSpaceFilledRange_);
@@ -1125,7 +1127,8 @@ cv::Mat MapsManager::generateProjMap(
gridCellSize_, gridCellSize_,
xMin, yMin, xMin, yMin,
gridSize_, gridSize_,
gridEroded_); gridEroded_,
footprintRadius_);
} }
cv::Mat MapsManager::generateGridMap( cv::Mat MapsManager::generateGridMap(
@@ -1141,7 +1144,8 @@ cv::Mat MapsManager::generateGridMap(
gridCellSize_, gridCellSize_,
xMin, yMin, xMin, yMin,
gridSize_, gridSize_,
gridEroded_); gridEroded_,
footprintRadius_);
return map; return map;
} }