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radiusPosesFiltering default keepLatest=true

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1550 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-13 17:59:38 +00:00
parent 6e3303654e
commit 16058dcbbe
4 changed files with 30 additions and 13 deletions
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corelib/include/rtabmap/core/util3d.h
+2 -1
View File
@@ -393,7 +393,8 @@ bool RTABMAP_EXP loadTOROGraph(const std::string & fileName,
std::map<int, Transform> RTABMAP_EXP radiusPosesFiltering(
const std::map<int, Transform> & poses,
float radius,
float angle);
float angle,
bool keepLatest = true);
cv::Mat RTABMAP_EXP create2DMap(const std::map<int, Transform> & poses,
const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans,
corelib/src/util3d.cpp
+23 -7
View File
@@ -1793,7 +1793,7 @@ bool loadTOROGraph(const std::string & fileName,
}
std::map<int, Transform> radiusPosesFiltering(const std::map<int, Transform> & poses, float radius, float angle)
std::map<int, Transform> radiusPosesFiltering(const std::map<int, Transform> & poses, float radius, float angle, bool keepLatest)
{
if(poses.size() > 1 && radius > 0.0f && angle>0.0f)
{
@@ -1841,15 +1841,31 @@ std::map<int, Transform> radiusPosesFiltering(const std::map<int, Transform> & p
}
}
bool firstAdded = false;
for(std::set<int>::iterator iter = cloudIndices.begin(); iter!=cloudIndices.end(); ++iter)
if(keepLatest)
{
if(!firstAdded)
bool lastAdded = false;
for(std::set<int>::reverse_iterator iter = cloudIndices.rbegin(); iter!=cloudIndices.rend(); ++iter)
{
indicesKept.insert(*iter);
firstAdded = true;
if(!lastAdded)
{
indicesKept.insert(*iter);
lastAdded = true;
}
indicesChecked.insert(*iter);
}
}
else
{
bool firstAdded = false;
for(std::set<int>::iterator iter = cloudIndices.begin(); iter!=cloudIndices.end(); ++iter)
{
if(!firstAdded)
{
indicesKept.insert(*iter);
firstAdded = true;
}
indicesChecked.insert(*iter);
}
indicesChecked.insert(*iter);
}
}
}
guilib/src/PreferencesDialog.cpp
+1 -1
View File
@@ -773,7 +773,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
}
_ui->groupBox_poseFiltering->setChecked(false);
_ui->doubleSpinBox_cloudFilterRadius->setValue(0.5);
_ui->doubleSpinBox_cloudFilterRadius->setValue(0.1);
_ui->doubleSpinBox_cloudFilterAngle->setValue(30);
}
else if(groupBox->objectName() == _ui->groupBox_logging1->objectName())
guilib/src/ui/preferencesDialog.ui
+4 -4
View File
@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-530</y>
<y>0</y>
<width>709</width>
<height>1140</height>
<height>853</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>17</number>
<number>1</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -371,7 +371,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.500000000000000</double>
<double>0.100000000000000</double>
</property>
</widget>
</item>