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Added octomap ground is an obstacle option

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matlabbe
2016-07-16 10:57:59 -04:00
parent b4b7b6f455
commit f161609a24
4 changed files with 53 additions and 15 deletions
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guilib/src/MainWindow.cpp
+5
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@@ -2646,6 +2646,11 @@ void MainWindow::createAndAddProjectionMap(
groundCloud = util3d::transformPointCloud(groundCloud, tinv);
obstaclesCloud = util3d::transformPointCloud(obstaclesCloud, tinv);
}
if(_preferencesDialog->isOctomapGroundAnObstacle())
{
*obstaclesCloud += *groundCloud;
groundCloud->clear();
}
_octomap->addToCache(nodeId, groundCloud, obstaclesCloud);
}
#endif