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demo_robot_mapping.launch: fixed "util3d.cpp:3038::rayTrace() Condition (end.x >= 0 && end.x < grid.cols) not met! [end.x=84 grid.cols=84]" fatal error

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1997 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-11-14 15:45:10 +00:00
parent 18596b9627
commit 502804076a
1 changed files with 4 additions and 2 deletions
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6
corelib/src/util3d.cpp
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@@ -2834,7 +2834,7 @@ cv::Mat create2DMapFromOccupancyLocalMaps(
float yMax = maxY+margin;
UDEBUG("map min=(%f, %f) max=(%f,%f)", xMin, yMin, xMax, yMax);
map = cv::Mat::ones((yMax - yMin) / cellSize, (xMax - xMin) / cellSize, CV_8S)*-1;
map = cv::Mat::ones((yMax - yMin) / cellSize + 0.5f, (xMax - xMin) / cellSize + 0.5f, CV_8S)*-1;
for(std::map<int, Transform>::const_iterator kter = poses.begin(); kter!=poses.end(); ++kter)
{
std::map<int, cv::Mat >::iterator iter = emptyLocalMaps.find(kter->first);
@@ -2930,9 +2930,11 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
float xMax = max.x+cellSize;
float yMax = max.y+cellSize;
UDEBUG("map min=(%f, %f) max=(%f,%f)", xMin, yMin, xMax, yMax);
//UTimer timer;
map = cv::Mat::ones((yMax - yMin) / cellSize, (xMax - xMin) / cellSize, CV_8S)*-1;
map = cv::Mat::ones((yMax - yMin) / cellSize + 0.5f, (xMax - xMin) / cellSize + 0.5f, CV_8S)*-1;
std::vector<float> maxSquaredLength(localScans.size(), 0.0f);
int j=0;
for(std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr >::iterator iter = localScans.begin(); iter!=localScans.end(); ++iter)