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ground segmentaiton: adjusted cluster inlier with centroid below max height of biggest cluster

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matlabbe
2018-02-18 15:30:20 -05:00
parent 07244a8a73
commit 00559ce8d6
2 changed files with 2 additions and 2 deletions
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2
corelib/include/rtabmap/core/impl/util3d_mapping.hpp
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@@ -109,7 +109,7 @@ void segmentObstaclesFromGround(
{ {
Eigen::Vector4f centroid(0,0,0,1); Eigen::Vector4f centroid(0,0,0,1);
pcl::compute3DCentroid(*cloud, *clusteredFlatSurfaces.at(i), centroid); pcl::compute3DCentroid(*cloud, *clusteredFlatSurfaces.at(i), centroid);
if(maxGroundHeight==0.0f || centroid[2] <= maxGroundHeight) // epsilon if(maxGroundHeight==0.0f || centroid[2] <= maxGroundHeight || centroid[2] <= max[2]) // epsilon
{ {
ground = util3d::concatenate(ground, clusteredFlatSurfaces.at(i)); ground = util3d::concatenate(ground, clusteredFlatSurfaces.at(i));
} }

2
guilib/src/DatabaseViewer.cpp
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@@ -3360,7 +3360,7 @@ void DatabaseViewer::update(int value,
{ {
cloudViewer_->addCloud("ground", util3d::laserScanToPointCloud(scan), pose, QColor(ui_->lineEdit_groundColor->text())); cloudViewer_->addCloud("ground", util3d::laserScanToPointCloud(scan), pose, QColor(ui_->lineEdit_groundColor->text()));
} }
scan = LaserScan::backwardCompatibility(localMaps.begin()->second.first.first); scan = LaserScan::backwardCompatibility(localMaps.begin()->second.first.second);
if(scan.hasRGB()) if(scan.hasRGB())
{ {
cloudViewer_->addCloud("obstacles", util3d::laserScanToPointCloudRGB(scan), pose, QColor(ui_->lineEdit_obstacleColor->text())); cloudViewer_->addCloud("obstacles", util3d::laserScanToPointCloudRGB(scan), pose, QColor(ui_->lineEdit_obstacleColor->text()));