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

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matlabbe
2024-09-04 11:39:38 -07:00
parent 12e2caf7d1
commit 11a8057246
1 changed files with 4 additions and 4 deletions
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corelib/src/util3d_mapping.cpp
+4 -4
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@@ -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) // Added margin to make sure that all points are inside the map (when rounded to integer)
float margin = cellSize*10.0f; float margin = cellSize*10.0f;
xMin = (unknownSpaceFilled && scanMaxRange > 0 && -scanMaxRange < min.x?-scanMaxRange:min.x) - margin; xMin = (scanMaxRange > 0 ? -scanMaxRange : min.x) - margin;
yMin = (unknownSpaceFilled && scanMaxRange > 0 && -scanMaxRange < min.y?-scanMaxRange:min.y) - margin; yMin = (scanMaxRange > 0 ? -scanMaxRange : min.y) - margin;
float xMax = (unknownSpaceFilled && scanMaxRange > 0 && scanMaxRange > max.x?scanMaxRange:max.x) + margin; float xMax = (scanMaxRange > 0 ? scanMaxRange : max.x) + margin;
float yMax = (unknownSpaceFilled && scanMaxRange > 0 && scanMaxRange > max.y?scanMaxRange:max.y) + 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])", 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); xMin, yMin, xMax, yMax, margin, cellSize, scanMaxRange, min.x, min.y, max.x, max.y);