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0.11.10: Database update with occupancy grid and laser scan info. Added class LaserScanInfo and OccupancyGrid (incremental 2d grid map). Gui: 2d grid and octomap are udpated using occupancy grids saved in nodes.

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This commit is contained in:
matlabbe
2016-08-21 19:33:01 -04:00
parent af02e02978
commit 013eba1d58
49 changed files with 3376 additions and 1259 deletions
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7
corelib/src/CameraRGB.cpp
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@@ -65,6 +65,7 @@ CameraImages::CameraImages() :
_dir(0),
_countScan(0),
_scanDir(0),
_scanLocalTransform(Transform::getIdentity()),
_scanMaxPts(0),
_scanDownsampleStep(1),
_scanVoxelSize(0.0f),
@@ -666,11 +667,11 @@ SensorData CameraImages::captureImage(CameraInfo * info)
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloud, _scanNormalsK);
pcl::PointCloud<pcl::PointNormal>::Ptr cloudNormals(new pcl::PointCloud<pcl::PointNormal>);
pcl::concatenateFields(*cloud, *normals, *cloudNormals);
scan = util3d::laserScanFromPointCloud(*cloudNormals);
scan = util3d::laserScanFromPointCloud(*cloudNormals, _scanLocalTransform.inverse());
}
else
{
scan = util3d::laserScanFromPointCloud(*cloud);
scan = util3d::laserScanFromPointCloud(*cloud, _scanLocalTransform.inverse());
}
}
}
@@ -684,7 +685,7 @@ SensorData CameraImages::captureImage(CameraInfo * info)
_model.setImageSize(img.size());
}
SensorData data(scan, scan.empty()?0:_scanMaxPts, 0, _isDepth?cv::Mat():img, _isDepth?img:depthFromScan, _model, this->getNextSeqID(), stamp);
SensorData data(scan, LaserScanInfo(scan.empty()?0:_scanMaxPts, 0, _scanLocalTransform), _isDepth?cv::Mat():img, _isDepth?img:depthFromScan, _model, this->getNextSeqID(), stamp);
data.setGroundTruth(groundTruthPose);
return data;
}