i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added DBDriver::setTimestampUpdateEnabled()

Browse Source 
Don't update timestamps if only links are modified
This commit is contained in:
Mathieu Labbe
2015-02-04 17:40:16 -05:00
parent 09625b766e
commit f8b625c7c7
10 changed files with 136 additions and 72 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
corelib/src/util3d.cpp
View File

@@ -2308,10 +2308,11 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
pcl::PointXYZ min, max;
pcl::getMinMax3D(minMax, min, max);
xMin = min.x-cellSize;
yMin = min.y-cellSize;
float xMax = max.x+cellSize;
float yMax = max.y+cellSize;
// 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;
UDEBUG("map min=(%f, %f) max=(%f,%f)", xMin, yMin, xMax, yMax);