Increased version 0.10.5: Added unknownSpaceFilled parameter to occupancy2DFromLaserScan()

CMakeLists.txt

@@ -20,7 +20,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
 #######################
 SET(RTABMAP_MAJOR_VERSION 0)
 SET(RTABMAP_MINOR_VERSION 10)
-SET(RTABMAP_PATCH_VERSION 4)
+SET(RTABMAP_PATCH_VERSION 5)
 SET(RTABMAP_VERSION
   ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
   

corelib/include/rtabmap/core/util3d_mapping.h

@@ -47,7 +47,8 @@ void RTABMAP_EXP occupancy2DFromLaserScan(
 		const cv::Mat & scan,
 		cv::Mat & ground,
 		cv::Mat & obstacles,
-		float cellSize);
+		float cellSize,
+		bool unknownSpaceFilled = false);
 
 cv::Mat RTABMAP_EXP create2DMapFromOccupancyLocalMaps(
 		const std::map<int, Transform> & poses,

corelib/src/toro3d/transformation2.hh

@@ -187,8 +187,10 @@ struct Transformation2{
   }
 
   /** Constructor that sets the translation and rotation  **/
-  Transformation2 (const T& _theta, const Vector2<T>& trans):
-    Transformation2(trans.x(), trans.y(), _theta){}
+  Transformation2 (const T& _theta, const Vector2<T>& trans){
+	  setRotation(_theta);
+	  setTranslation(trans.x(), trans.y());
+  }
 
 
   /** Copy constructor  **/

corelib/src/util3d_mapping.cpp

@@ -49,7 +49,8 @@ void occupancy2DFromLaserScan(
 		const cv::Mat & scan,
 		cv::Mat & ground,
 		cv::Mat & obstacles,
-		float cellSize)
+		float cellSize,
+		bool unknownSpaceFilled)
 {
 	if(scan.empty())
 	{
@@ -66,7 +67,7 @@ void occupancy2DFromLaserScan(
 	scans.insert(std::make_pair(1, obstaclesCloud));
 
 	float xMin, yMin;
-	cv::Mat map8S = create2DMap(poses, scans, cellSize, false, xMin, yMin);
+	cv::Mat map8S = create2DMap(poses, scans, cellSize, unknownSpaceFilled, xMin, yMin);
 
 	// find ground cells
 	std::list<int> groundIndices;