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MedianFillFilter.cpp -> function cleanedMask() 's morphological operational question #406

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silencht opened this issue Oct 31, 2023 · 0 comments

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@silencht
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silencht commented Oct 31, 2023

in grid_map_filters/src/MedianFillFilter.cpp,

  cv::dilate(inputMask, cleanedInputMask, element);
  cv::erode(cleanedInputMask, cleanedInputMask, element);
  cv::erode(inputMask, cleanedInputMask, element);
  cv::dilate(cleanedInputMask, cleanedInputMask, element);

My idea was to write it like this,

  cv::dilate(inputMask, cleanedInputMask, element);
  cv::erode(cleanedInputMask, cleanedInputMask, element);
  cv::erode(cleanedInputMask, cleanedInputMask, element);
  cv::dilate(cleanedInputMask, cleanedInputMask, element);

Is there a problem with the third line of code here? Or is there a problem with my understanding.
Can you explain what this part of the code does? Thanks!

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