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Projection ray tracing, keep empty cells from projection

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matlabbe
2017-03-01 17:34:28 -05:00
parent 17121d5861
commit 9b3b7b09a0
4 changed files with 31 additions and 11 deletions
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10
corelib/include/rtabmap/core/impl/util3d_mapping.hpp
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@@ -255,8 +255,9 @@ void occupancy2DFromGroundObstacles(
ground = cv::Mat(1, (int)groundCloudProjected->size(), CV_32FC2);
for(unsigned int i=0;i<groundCloudProjected->size(); ++i)
{
ground.at<cv::Vec2f>(i)[0] = groundCloudProjected->at(i).x;
ground.at<cv::Vec2f>(i)[1] = groundCloudProjected->at(i).y;
cv::Vec2f * ptr = ground.ptr<cv::Vec2f>();
ptr[i][0] = groundCloudProjected->at(i).x;
ptr[i][1] = groundCloudProjected->at(i).y;
}
}
@@ -272,8 +273,9 @@ void occupancy2DFromGroundObstacles(
obstacles = cv::Mat(1, (int)obstaclesCloudProjected->size(), CV_32FC2);
for(unsigned int i=0;i<obstaclesCloudProjected->size(); ++i)
{
obstacles.at<cv::Vec2f>(i)[0] = obstaclesCloudProjected->at(i).x;
obstacles.at<cv::Vec2f>(i)[1] = obstaclesCloudProjected->at(i).y;
cv::Vec2f * ptr = obstacles.ptr<cv::Vec2f>();
ptr[i][0] = obstaclesCloudProjected->at(i).x;
ptr[i][1] = obstaclesCloudProjected->at(i).y;
}
}
}