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Added occupancy grid footprintRadius parameter to clear obstacles under path

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matlabbe
2016-08-14 14:52:42 -04:00
parent ae7436a41b
commit 18b1931e7c
6 changed files with 142 additions and 57 deletions
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3
corelib/include/rtabmap/core/util3d_mapping.h
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@@ -58,7 +58,8 @@ cv::Mat RTABMAP_EXP create2DMapFromOccupancyLocalMaps(
float & xMin,
float & yMin,
float minMapSize = 0.0f,
bool erode = false);
bool erode = false,
float footprintRadius = 0.0f);
cv::Mat RTABMAP_EXP create2DMap(const std::map<int, Transform> & poses,
const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans,