i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

0.11.10: Database update with occupancy grid and laser scan info. Added class LaserScanInfo and OccupancyGrid (incremental 2d grid map). Gui: 2d grid and octomap are udpated using occupancy grids saved in nodes.

Browse Source
This commit is contained in:
matlabbe
2016-08-21 19:33:01 -04:00
parent af02e02978
commit 013eba1d58
49 changed files with 3376 additions and 1259 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
corelib/include/rtabmap/core/impl/util3d_mapping.hpp
View File

@@ -242,7 +242,7 @@ void occupancy2DFromGroundObstacles(
//voxelize to grid cell size
groundCloudProjected = util3d::voxelize(groundCloudProjected, cellSize);
ground = cv::Mat((int)groundCloudProjected->size(), 1, CV_32FC2);
ground = cv::Mat(1, (int)groundCloudProjected->size(), CV_32FC2);
for(unsigned int i=0;i<groundCloudProjected->size(); ++i)
{
ground.at<cv::Vec2f>(i)[0] = groundCloudProjected->at(i).x;
@@ -259,7 +259,7 @@ void occupancy2DFromGroundObstacles(
//voxelize to grid cell size
obstaclesCloudProjected = util3d::voxelize(obstaclesCloudProjected, cellSize);
obstacles = cv::Mat((int)obstaclesCloudProjected->size(), 1, CV_32FC2);
obstacles = cv::Mat(1, (int)obstaclesCloudProjected->size(), CV_32FC2);
for(unsigned int i=0;i<obstaclesCloudProjected->size(); ++i)
{
obstacles.at<cv::Vec2f>(i)[0] = obstaclesCloudProjected->at(i).x;