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

LocalGrid: fixed overestimated local grid size when Grid/RangeMax is used

Browse Source
This commit is contained in:
matlabbe
2024-09-04 11:39:38 -07:00
parent 12e2caf7d1
commit 11a8057246
1 changed files with 4 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
corelib/src/util3d_mapping.cpp
View File

@@ -642,10 +642,10 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
// Added margin to make sure that all points are inside the map (when rounded to integer)
float margin = cellSize*10.0f;
xMin = (unknownSpaceFilled && scanMaxRange > 0 && -scanMaxRange < min.x?-scanMaxRange:min.x) - margin;
yMin = (unknownSpaceFilled && scanMaxRange > 0 && -scanMaxRange < min.y?-scanMaxRange:min.y) - margin;
float xMax = (unknownSpaceFilled && scanMaxRange > 0 && scanMaxRange > max.x?scanMaxRange:max.x) + margin;
float yMax = (unknownSpaceFilled && scanMaxRange > 0 && scanMaxRange > max.y?scanMaxRange:max.y) + margin;
xMin = (scanMaxRange > 0 ? -scanMaxRange : min.x) - margin;
yMin = (scanMaxRange > 0 ? -scanMaxRange : min.y) - margin;
float xMax = (scanMaxRange > 0 ? scanMaxRange : max.x) + margin;
float yMax = (scanMaxRange > 0 ? scanMaxRange : max.y) + margin;
UDEBUG("map min=(%fm, %fm) max=(%fm,%fm) (margin=%fm, cellSize=%fm, scan range=%f, min=[%fm,%fm] max=[%fm,%fm])",
xMin, yMin, xMax, yMax, margin, cellSize, scanMaxRange, min.x, min.y, max.x, max.y);