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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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2
CMakeLists.txt
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@@ -20,7 +20,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
####################### #######################
SET(RTABMAP_MAJOR_VERSION 0) SET(RTABMAP_MAJOR_VERSION 0)
SET(RTABMAP_MINOR_VERSION 10) SET(RTABMAP_MINOR_VERSION 10)
SET(RTABMAP_PATCH_VERSION 4) SET(RTABMAP_PATCH_VERSION 5)
SET(RTABMAP_VERSION SET(RTABMAP_VERSION
${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION}) ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})

3
corelib/include/rtabmap/core/util3d_mapping.h
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@@ -47,7 +47,8 @@ void RTABMAP_EXP occupancy2DFromLaserScan(
const cv::Mat & scan, const cv::Mat & scan,
cv::Mat & ground, cv::Mat & ground,
cv::Mat & obstacles, cv::Mat & obstacles,
float cellSize); float cellSize,
bool unknownSpaceFilled = false);
cv::Mat RTABMAP_EXP create2DMapFromOccupancyLocalMaps( cv::Mat RTABMAP_EXP create2DMapFromOccupancyLocalMaps(
const std::map<int, Transform> & poses, const std::map<int, Transform> & poses,

6
corelib/src/toro3d/transformation2.hh
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@@ -187,8 +187,10 @@ struct Transformation2{
} }
/** Constructor that sets the translation and rotation **/ /** Constructor that sets the translation and rotation **/
Transformation2 (const T& _theta, const Vector2<T>& trans): Transformation2 (const T& _theta, const Vector2<T>& trans){
Transformation2(trans.x(), trans.y(), _theta){} setRotation(_theta);
setTranslation(trans.x(), trans.y());
}
/** Copy constructor **/ /** Copy constructor **/

5
corelib/src/util3d_mapping.cpp
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@@ -49,7 +49,8 @@ void occupancy2DFromLaserScan(
const cv::Mat & scan, const cv::Mat & scan,
cv::Mat & ground, cv::Mat & ground,
cv::Mat & obstacles, cv::Mat & obstacles,
float cellSize) float cellSize,
bool unknownSpaceFilled)
{ {
if(scan.empty()) if(scan.empty())
{ {
@@ -66,7 +67,7 @@ void occupancy2DFromLaserScan(
scans.insert(std::make_pair(1, obstaclesCloud)); scans.insert(std::make_pair(1, obstaclesCloud));
float xMin, yMin; 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 // find ground cells
std::list<int> groundIndices; std::list<int> groundIndices;