LocalGrid: fixed overestimated local grid size when Grid/RangeMax is …

…used
introlab · Sep 4, 2024 · 11a8057 · 11a8057
1 parent 12e2caf
commit 11a8057
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/corelib/src/util3d_mapping.cpp b/corelib/src/util3d_mapping.cpp
@@ -642,10 +642,10 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
 
  // Added margin to make sure that all points are inside the map (when rounded to integer)
  float margin = cellSize*10.0f;
- xMin = (unknownSpaceFilled && scanMaxRange > 0 && -scanMaxRange < min.x?-scanMaxRange:min.x) - margin;
- yMin = (unknownSpaceFilled && scanMaxRange > 0 && -scanMaxRange < min.y?-scanMaxRange:min.y) - margin;
- float xMax = (unknownSpaceFilled && scanMaxRange > 0 && scanMaxRange > max.x?scanMaxRange:max.x) + margin;
- float yMax = (unknownSpaceFilled && scanMaxRange > 0 && scanMaxRange > max.y?scanMaxRange:max.y) + margin;
+ xMin = (scanMaxRange > 0 ? -scanMaxRange : min.x) - margin;
+ yMin = (scanMaxRange > 0 ? -scanMaxRange : min.y) - margin;
+ float xMax = (scanMaxRange > 0 ? scanMaxRange : max.x) + margin;
+ float yMax = (scanMaxRange > 0 ? scanMaxRange : max.y) + margin;
 
  UDEBUG("map min=(%fm, %fm) max=(%fm,%fm) (margin=%fm, cellSize=%fm, scan range=%f, min=[%fm,%fm] max=[%fm,%fm])",
  xMin, yMin, xMax, yMax, margin, cellSize, scanMaxRange, min.x, min.y, max.x, max.y);