i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-07 18:47:48 +08:00
Code Issues Packages Projects Releases Wiki Activity

Create2DMap: eroding only on cells having at least 3 empty neighbor cells

Browse Source
This commit is contained in:
matlabbe
2015-09-16 17:12:01 -04:00
parent b8043665fe
commit 007c192b6a
2 changed files with 8 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/util3d_mapping.cpp
+6 -6
View File
@@ -349,7 +349,7 @@ cv::Mat create2DMapFromOccupancyLocalMaps(
if(erode)
{
// remove obstacles which touch to empty cells but not unknown cells
// remove obstacles which touch at least 3 empty cells but not unknown cells
cv::Mat erodedMap = map.clone();
for(std::list<std::pair<int,int> >::iterator iter = obstacleIndices.begin();
iter!= obstacleIndices.end();
@@ -357,11 +357,11 @@ cv::Mat create2DMapFromOccupancyLocalMaps(
{
int i = iter->first;
int j = iter->second;
bool touchEmpty = map.at<char>(i+1, j) == 0 ||
map.at<char>(i-1, j) == 0 ||
map.at<char>(i, j+1) == 0 ||
map.at<char>(i, j-1) == 0;
if(touchEmpty && map.at<char>(i+1, j) != -1 &&
int touchEmpty = (map.at<char>(i+1, j) == 0?1:0) +
(map.at<char>(i-1, j) == 0?1:0) +
(map.at<char>(i, j+1) == 0?1:0) +
(map.at<char>(i, j-1) == 0?1:0);
if(touchEmpty>=3 && map.at<char>(i+1, j) != -1 &&
map.at<char>(i-1, j) != -1 &&
map.at<char>(i, j+1) != -1 &&
map.at<char>(i, j-1) != -1)