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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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Jetson orin: Occupancy grid's unkown cells appear black (obstacle) #1383

Closed matlabbe closed 4 hours ago

matlabbe commented 4 hours ago

The bug is that char on that platform is unsigned by default. The fix is to explicitly set signed char instead of char when converting the map here: https://github.com/introlab/rtabmap/blob/966feefb35d1313b05ed26946f6e5bab7098b6a6/corelib/src/util3d_mapping.cpp#L912-L929

matlabbe commented 4 hours ago

Fixed by https://github.com/introlab/rtabmap/commit/a584245029575471cc976fdad0a2ea1eb1cb76d6