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OctoMap: aligned 2D projection map with OctoMap

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matlabbe
2019-02-12 15:36:28 -05:00
parent 5839ccbeb5
commit 3e71b3fe69
2 changed files with 4 additions and 7 deletions
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corelib/src/util3d_mapping.cpp
-2
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@@ -300,9 +300,7 @@ cv::Mat create2DMapFromOccupancyLocalMaps(
//Get map size
float margin = cellSize*10.0f;
xMin = minX-margin;
xMin -= cellSize/2.0f;
yMin = minY-margin;
yMin += cellSize/2.0f;
float xMax = maxX+margin;
float yMax = maxY+margin;
if(fabs((yMax - yMin) / cellSize) > 30000 || // Max 1.5Km/1.5Km at 5 cm/cell -> 900MB