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Topic/mnaveau/warning hunt #234

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1 change: 1 addition & 0 deletions elevation_mapping/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -65,6 +65,7 @@ catkin_package(
## Your package locations should be listed before other locations
include_directories(
include
SYSTEM
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${Eigen_INCLUDE_DIRS}
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10 changes: 5 additions & 5 deletions elevation_mapping/src/ElevationMap.cpp
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Expand Up @@ -79,7 +79,7 @@ bool ElevationMap::add(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointCloud,
if (initialTime_.toSec() == 0) {
initialTime_ = timestamp;
}
const double scanTimeSinceInitialization = (timestamp - initialTime_).toSec();
double scanTimeSinceInitialization = (timestamp - initialTime_).toSec();

for (unsigned int i = 0; i < pointCloud->size(); ++i) {
auto& point = pointCloud->points[i];
Expand All @@ -100,7 +100,7 @@ bool ElevationMap::add(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointCloud,
auto& sensorZatLowestScan = rawMap_.at("sensor_z_at_lowest_scan", index);

const float& pointVariance = pointCloudVariances(i);
const float scanTimeSinceInitialization = (timestamp - initialTime_).toSec();
scanTimeSinceInitialization = (timestamp - initialTime_).toSec();

if (!rawMap_.isValid(index)) {
// No prior information in elevation map, use measurement.
Expand Down Expand Up @@ -414,14 +414,14 @@ void ElevationMap::visibilityCleanup(const ros::Time& updatedTime)
float pointDiffY = point.y() - sensorYatLowestScan;
float distanceToPoint = sqrt(pointDiffX * pointDiffX + pointDiffY * pointDiffY);
if (distanceToPoint > 0.0) {
for (grid_map::LineIterator iterator(visibilityCleanupMap_, indexAtSensor, *iterator); !iterator.isPastEnd(); ++iterator) {
for (grid_map::LineIterator line_iterator(visibilityCleanupMap_, indexAtSensor, *iterator); !line_iterator.isPastEnd(); ++line_iterator) {
Position cellPosition;
visibilityCleanupMap_.getPosition(*iterator, cellPosition);
visibilityCleanupMap_.getPosition(*line_iterator, cellPosition);
const float cellDiffX = cellPosition.x() - sensorXatLowestScan;
const float cellDiffY = cellPosition.y() - sensorYatLowestScan;
const float distanceToCell = distanceToPoint - sqrt(cellDiffX * cellDiffX + cellDiffY * cellDiffY);
const float maxHeightPoint = lowestScanPoint + (sensorZatLowestScan - lowestScanPoint) / distanceToPoint * distanceToCell;
auto& cellMaxHeight = visibilityCleanupMap_.at("max_height", *iterator);
auto& cellMaxHeight = visibilityCleanupMap_.at("max_height", *line_iterator);
if (std::isnan(cellMaxHeight) || cellMaxHeight > maxHeightPoint) {
cellMaxHeight = maxHeightPoint;
}
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