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Increased version 0.10.5: Added unknownSpaceFilled parameter to occupancy2DFromLaserScan()

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matlabbe
2015-08-09 13:31:05 -04:00
parent e4d5282e6f
commit 25e7b4a5c6
4 changed files with 10 additions and 6 deletions
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6
corelib/src/toro3d/transformation2.hh
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@@ -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 **/

5
corelib/src/util3d_mapping.cpp
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@@ -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;