Merge Maps: Transformation of box points has been fixed.

SteveMacenski / slam_toolbox

Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS

GNU Lesser General Public License v2.1

1.68k stars 525 forks source link

Merge Maps: Transformation of box points has been fixed. #661

Closed oenzan closed 10 months ago

oenzan commented 10 months ago

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#660
Primary OS tested on	Ubuntu 20.04
Robotic platform tested on	Custom simulation environment

To rotate the bounding box correctly, 4 points are needed. BoundingBox::GetMinimum() gives the lower left point and BoundingBox2::GetMaximum() gives the upper right point. When they are rotated and set to minimum and maximum again, the information from top left and bottom right is lost.

SteveMacenski commented 10 months ago

Can you validate that this solves your issue (ie did you do some testing after this most recent change)?

oenzan commented 10 months ago

Can you validate that this solves your issue (ie did you do some testing after this most recent change)?

It works but i did not use merge_maps_kinematic. I wrote a service that rotate map when saving it. i just copy MergeMapsKinematic::transformScan and MergeMapsKinematic::applyCorrection and transform every scan with specified angle. Screenshot from 2024-01-10 00-34-22