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Grid map: added "erode" option

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Mathieu Labbe
2015-03-20 14:03:09 -04:00
parent 722268a95c
commit ad6ee69ac6
8 changed files with 153 additions and 30 deletions
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corelib/include/rtabmap/core/util3d.h
+2 -1
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@@ -358,7 +358,8 @@ cv::Mat RTABMAP_EXP create2DMapFromOccupancyLocalMaps(
float cellSize,
float & xMin,
float & yMin,
float minMapSize = 0.0f);
float minMapSize = 0.0f,
bool erode = false);
cv::Mat RTABMAP_EXP create2DMap(const std::map<int, Transform> & poses,
const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans,