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added "grid_unknown_space_filled" parameter to MapsManager (rtabmap node)

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matlabbe
2015-08-09 13:33:00 -04:00
parent 593fa7e09e
commit fbb16158af
3 changed files with 5 additions and 2 deletions
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CMakeLists.txt
+1 -1
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@@ -17,7 +17,7 @@ find_package(octomap_ros)
## System dependencies are found with CMake's conventions ## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system) # find_package(Boost REQUIRED COMPONENTS system)
find_package(RTABMap 0.10.4 REQUIRED) find_package(RTABMap 0.10.5 REQUIRED)
find_package(OpenCV REQUIRED) find_package(OpenCV REQUIRED)
src/MapsManager.cpp
+3 -1
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@@ -40,6 +40,7 @@ MapsManager::MapsManager() :
gridCellSize_(0.05), // meters gridCellSize_(0.05), // meters
gridSize_(0), // meters gridSize_(0), // meters
gridEroded_(false), gridEroded_(false),
gridUnknownSpaceFilled_(false),
mapFilterRadius_(0.5), mapFilterRadius_(0.5),
mapFilterAngle_(30.0), // degrees mapFilterAngle_(30.0), // degrees
mapCacheCleanup_(true), mapCacheCleanup_(true),
@@ -67,6 +68,7 @@ MapsManager::MapsManager() :
pnh.param("grid_cell_size", gridCellSize_, gridCellSize_); // m pnh.param("grid_cell_size", gridCellSize_, gridCellSize_); // m
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_unknown_space_filled", gridUnknownSpaceFilled_, gridUnknownSpaceFilled_);
// common map stuff // common map stuff
pnh.param("map_filter_radius", mapFilterRadius_, mapFilterRadius_); pnh.param("map_filter_radius", mapFilterRadius_, mapFilterRadius_);
@@ -276,7 +278,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
if(scanRequired) if(scanRequired)
{ {
cv::Mat ground, obstacles; cv::Mat ground, obstacles;
util3d::occupancy2DFromLaserScan(scan, ground, obstacles, gridCellSize_); util3d::occupancy2DFromLaserScan(scan, ground, obstacles, gridCellSize_, gridUnknownSpaceFilled_);
gridMaps_.insert(std::make_pair(iter->first, std::make_pair(ground, obstacles))); gridMaps_.insert(std::make_pair(iter->first, std::make_pair(ground, obstacles)));
} }
} }
src/MapsManager.h
+1
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@@ -77,6 +77,7 @@ private:
double gridCellSize_; double gridCellSize_;
double gridSize_; double gridSize_;
bool gridEroded_; bool gridEroded_;
bool gridUnknownSpaceFilled_;
double mapFilterRadius_; double mapFilterRadius_;
double mapFilterAngle_; double mapFilterAngle_;
bool mapCacheCleanup_; bool mapCacheCleanup_;