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Fixed occupancy grid created from PointNormal with RGB

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matlabbe
2018-02-18 15:10:25 -05:00
parent d181bedbfc
commit 07244a8a73
11 changed files with 546 additions and 333 deletions
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corelib/include/rtabmap/core/OccupancyGrid.h
+1 -21
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@@ -70,18 +70,8 @@ public:
cv::Mat & emptyCells,
cv::Point3f & viewPoint) const;
template<typename PointT>
void createLocalMap(
const typename pcl::PointCloud<PointT>::Ptr cloud, // in base_link frame
const Transform & pose,
cv::Mat & groundCells,
cv::Mat & obstacleCells,
cv::Mat & emptyCells,
cv::Point3f & viewPointInOut) const;
template<typename PointT>
void createLocalMap(
const typename pcl::PointCloud<PointT>::Ptr cloud, // in base_link frame
const pcl::IndicesPtr & indices,
const LaserScan & cloud,
const Transform & pose,
cv::Mat & groundCells,
cv::Mat & obstacleCells,
@@ -100,16 +90,6 @@ public:
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & getMapObstacles() const {return assembledObstacles_;}
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & getMapEmptyCells() const {return assembledEmptyCells_;}
private:
void createLocalMapImpl(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & groundCloud,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & obstaclesCloud,
const Transform & pose,
cv::Mat & groundCells,
cv::Mat & obstacleCells,
cv::Mat & emptyCells,
const cv::Point3f & viewPoint) const;
private:
ParametersMap parameters_;
int cloudDecimation_;