fit_supporting_entity can be set by srv

Author: MatthijsBurgh

ed_sensor_integration/include/ed/kinect/updater.h

@@ -24,6 +24,9 @@ struct UpdateRequest
     // When refitting an entity, this states the maximum change in yaw (in radians), i.e., the fitted
     // yaw will deviate at most 'max_yaw_change' from the estimated yaw
     double max_yaw_change;
+
+    // Should the supporting entity be fitted
+    bool fit_supporting_entity;
 };
 
 // ----------------------------------------------------------------------------------------------------

ed_sensor_integration/src/kinect/kinect_plugin.cpp

@@ -167,6 +167,7 @@ bool KinectPlugin::srvUpdate(ed_sensor_integration_msgs::Update::Request& req, e
     UpdateRequest kinect_update_req;
     kinect_update_req.area_description = req.area_description;
     kinect_update_req.background_padding = req.background_padding;
+    kinect_update_req.fit_supporting_entity = req.fit_supporting_entity;
 
     // We expect the orientation of the supporting entity to be approximately correct.
     // Therefore, only allow rotation updates up to 45 degrees (both clock-wise and anti-clock-wise)

ed_sensor_integration/src/kinect/updater.cpp

@@ -225,7 +225,7 @@ bool Updater::update(const ed::WorldModel& world, const rgbd::ImageConstPtr& ima
         // Check if the update_command is a segmented entity.
         // If so, lookup the corresponding area_description
 
-        bool fit_supporting_entity = true;
+        bool fit_supporting_entity = req.fit_supporting_entity;
 
         std::map<ed::UUID, std::string>::const_iterator it_area_descr = id_to_area_description_.find(req.area_description);
         if (it_area_descr != id_to_area_description_.end())