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updated grid map margin to +-cellSize instead of 1 meter

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1965 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-03 22:15:07 +00:00
parent 500ba389b7
commit bb22d6b065
1 changed files with 8 additions and 8 deletions
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corelib/src/util3d.cpp
+8 -8
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@@ -2736,7 +2736,7 @@ cv::Mat create2DMapFromOccupancyLocalMaps(
std::map<int, cv::Mat> emptyLocalMaps; std::map<int, cv::Mat> emptyLocalMaps;
std::map<int, cv::Mat> occupiedLocalMaps; std::map<int, cv::Mat> occupiedLocalMaps;
float minX=-minMapSize, minY=-minMapSize, maxX=minMapSize, maxY=minMapSize; float minX=-minMapSize/2.0, minY=-minMapSize/2.0, maxX=minMapSize/2.0, maxY=minMapSize/2.0;
bool undefinedSize = minMapSize == 0.0f; bool undefinedSize = minMapSize == 0.0f;
float x,y,z,toll,pitch,yaw,cosT,sinT; float x,y,z,toll,pitch,yaw,cosT,sinT;
cv::Mat affineTransform(2,3,CV_32FC1); cv::Mat affineTransform(2,3,CV_32FC1);
@@ -2824,7 +2824,7 @@ cv::Mat create2DMapFromOccupancyLocalMaps(
if(minX != maxX && minY != maxY) if(minX != maxX && minY != maxY)
{ {
//Get map size //Get map size
float margin = fillEmptyRadius + 1; float margin = (fillEmptyRadius + 1)*cellSize;
xMin = minX-margin; xMin = minX-margin;
yMin = minY-margin; yMin = minY-margin;
float xMax = maxX+margin; float xMax = maxX+margin;
@@ -2898,8 +2898,8 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
pcl::PointCloud<pcl::PointXYZ> minMax; pcl::PointCloud<pcl::PointXYZ> minMax;
if(minMapSize > 0.0f) if(minMapSize > 0.0f)
{ {
minMax.push_back(pcl::PointXYZ(-minMapSize, -minMapSize, 0)); minMax.push_back(pcl::PointXYZ(-minMapSize/2.0, -minMapSize/2.0, 0));
minMax.push_back(pcl::PointXYZ(minMapSize, minMapSize, 0)); minMax.push_back(pcl::PointXYZ(minMapSize/2.0, minMapSize/2.0, 0));
} }
for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter) for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)
{ {
@@ -2922,10 +2922,10 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
pcl::PointXYZ min, max; pcl::PointXYZ min, max;
pcl::getMinMax3D(minMax, min, max); pcl::getMinMax3D(minMax, min, max);
xMin = min.x-1.0f; xMin = min.x-cellSize;
yMin = min.y-1.0f; yMin = min.y-cellSize;
float xMax = max.x+1.0f; float xMax = max.x+cellSize;
float yMax = max.y+1.0f; float yMax = max.y+cellSize;
//UTimer timer; //UTimer timer;