added map correction for segmented map

ipa_room_segmentation/ros/src/room_segmentation_server.cpp

@@ -476,15 +476,23 @@ void RoomSegmentationServer::execute_segmentation_server(const ipa_building_msgs
 	else if (room_segmentation_algorithm_ == 99)
 	{
 		// pass through segmentation: takes a map which is already separated into unconnected areas and returns these as the resulting segmentation in the format of this program
-		original_img.convertTo(segmented_map, CV_32SC1, 256, 0);		// occupied space = 0, free space = 65280
+		// todo: closing operation explicitly for bad maps --> needs parameterization
+		//original_img.convertTo(segmented_map, CV_32SC1, 256, 0);		// occupied space = 0, free space = 65280
+		cv::Mat original_img_eroded, temp;
+		cv::erode(original_img, temp, cv::Mat(), cv::Point(-1, -1), 3);
+		cv::dilate(temp, original_img_eroded, cv::Mat(), cv::Point(-1, -1), 3);
+		original_img_eroded.convertTo(segmented_map, CV_32SC1, 256, 0);		// occupied space = 0, free space = 65280
 		int label_index = 1;
 
+//		cv::imshow("original_img", original_img_eroded);
+//		cv::waitKey();
+
 		for (int y = 0; y < segmented_map.rows; y++)
 		{
 			for (int x = 0; x < segmented_map.cols; x++)
 			{
 				// if original map is occupied space here or if the segmented map has already received a label for that cell --> skip
-				if (original_img.at<uchar>(y,x) != 255 || segmented_map.at<int>(y,x)!=65280)
+				if (original_img_eroded.at<uchar>(y,x) != 255 || segmented_map.at<int>(y,x)!=65280)
 					continue;
 
 				// fill each room area with a unique id