From d1c44fe7f3990c114b566d5af973cdadcb66286b Mon Sep 17 00:00:00 2001 From: Andrew White Date: Mon, 27 Jul 2026 21:05:22 -0500 Subject: [PATCH] fix: dilation kernel size is off by one pixel in buffered --- .../omni/ext/mobility_gen/occupancy_map.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/exts/omni.ext.mobility_gen/omni/ext/mobility_gen/occupancy_map.py b/exts/omni.ext.mobility_gen/omni/ext/mobility_gen/occupancy_map.py index 862d457..f4e9cbe 100644 --- a/exts/omni.ext.mobility_gen/omni/ext/mobility_gen/occupancy_map.py +++ b/exts/omni.ext.mobility_gen/omni/ext/mobility_gen/occupancy_map.py @@ -353,7 +353,7 @@ def buffered(self, buffer_distance_pixels: int) -> "OccupancyMap": buffer_distance_pixels = int(buffer_distance_pixels) radius = buffer_distance_pixels - diameter = radius * 2 + diameter = radius * 2 + 1 kernel = np.zeros((diameter, diameter), np.uint8) cv2.circle(kernel, (radius, radius), radius, 255, -1) occupied = self.occupied_mask().astype(np.uint8) * 255