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increased map marging to 10*cellSize to make sure all poses are in the map

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Mathieu Labbe
2015-02-23 16:09:02 -05:00
parent b785353b5e
commit 58f557309e
1 changed files with 7 additions and 5 deletions
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12
corelib/src/util3d.cpp
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@@ -2183,7 +2183,7 @@ cv::Mat create2DMapFromOccupancyLocalMaps(
if(minX != maxX && minY != maxY)
{
//Get map size
float margin = cellSize;
float margin = cellSize*10.0f;
xMin = minX-margin;
yMin = minY-margin;
float xMax = maxX+margin;
@@ -2211,6 +2211,7 @@ cv::Mat create2DMapFromOccupancyLocalMaps(
map.at<char>(pt.y, pt.x) = 100; // obstacles
}
}
//UDEBUG("empty=%d occupied=%d", empty, occupied);
}
@@ -2314,10 +2315,11 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
pcl::getMinMax3D(minMax, min, max);
// Added X2 to make sure that all points are inside the map (when rounded to integer)
xMin = min.x-cellSize*2.0f;
yMin = min.y-cellSize*2.0f;
float xMax = max.x+cellSize*2.0f;
float yMax = max.y+cellSize*2.0f;
float marging = cellSize*10.0f;
xMin = min.x-marging;
yMin = min.y-marging;
float xMax = max.x+marging;
float yMax = max.y+marging;
UDEBUG("map min=(%f, %f) max=(%f,%f)", xMin, yMin, xMax, yMax);