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Fixed unknown lines for octomap 2D grid projection. (https://github.com/introlab/rtabmap_ros/issues/684)

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matlabbe
2021-11-30 20:34:51 -05:00
parent 67710ef94c
commit baae713471
3 changed files with 30 additions and 7 deletions
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corelib/src/util3d_mapping.cpp
+2 -2
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@@ -330,8 +330,8 @@ cv::Mat create2DMapFromOccupancyLocalMaps(
{
//Get map size
float margin = cellSize*10.0f;
xMin = minX-margin;
yMin = minY-margin;
xMin = minX-margin-cellSize/2.0f;
yMin = minY-margin-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