From fafa2d33ab520a7de764e9bc867dc9a84c69e24d Mon Sep 17 00:00:00 2001
From: Lisa <robbie@uni-koblenz.de>
Date: Mon, 20 Mar 2017 15:59:07 +0100
Subject: [PATCH] dont paint contrast border arround error points
---
homer_mapping/src/OccupancyMap/OccupancyMap.cpp | 7 ++++++-
1 file changed, 6 insertions(+), 1 deletion(-)
diff --git a/homer_mapping/src/OccupancyMap/OccupancyMap.cpp b/homer_mapping/src/OccupancyMap/OccupancyMap.cpp
index a02330a8..9be89050 100644
--- a/homer_mapping/src/OccupancyMap/OccupancyMap.cpp
+++ b/homer_mapping/src/OccupancyMap/OccupancyMap.cpp
@@ -306,6 +306,10 @@ void OccupancyMap::insertRanges(vector<RangeMeasurement> ranges,
{
continue;
}
+ if(ranges[i].range <= m_FreeReadingDistance)
+ {
+ continue;
+ }
Eigen::Vector2i endPixel = map_pixel[i];
for (int y = endPixel.y() - 2; y <= endPixel.y() + 2; y++)
@@ -704,7 +708,8 @@ void OccupancyMap::drawLine(Eigen::Vector2i& startPixel,
{
continue;
}
- if (m_MapPoints[index].CurrentChange == NO_CHANGE)
+ if (m_MapPoints[index].CurrentChange == ::NO_CHANGE||
+ m_MapPoints[index].CurrentChange == ::FREE)
{
m_MapPoints[index].CurrentChange = value;
}
--
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