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create2DMap() added minMapSize parameter

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dbViewer: fixed refine Visual

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1962 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-11-03 21:40:54 +00:00
parent 91a6799a40
commit c98db0396b
3 changed files with 16 additions and 6 deletions
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6
corelib/include/rtabmap/core/util3d.h
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@@ -505,14 +505,16 @@ cv::Mat RTABMAP_EXP create2DMapFromOccupancyLocalMaps(
float cellSize,
float & xMin,
float & yMin,
int fillEmptyRadius = 0);
int fillEmptyRadius = 0,
float minMapSize = 0.0f);
cv::Mat RTABMAP_EXP create2DMap(const std::map<int, Transform> & poses,
const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans,
float cellSize,
bool unknownSpaceFilled,
float & xMin,
float & yMin);
float & yMin,
float minMapSize = 0.0f);
void RTABMAP_EXP rayTrace(const cv::Point2i & start,
const cv::Point2i & end,