i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

ExportClouds: set minimum K (for normal estimation) to 3. Also added a check if the created cloud is empty.

Browse Source
This commit is contained in:
matlabbe
2016-10-31 11:29:07 -04:00
parent e3c290269b
commit 2529952982
2 changed files with 51 additions and 48 deletions
Download Patch File Download Diff File Expand all files Collapse all files

97
guilib/src/ExportCloudsDialog.cpp
View File

@@ -1434,59 +1434,62 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
indices.get(),
parameters);
// Don't voxelize if we create organized mesh
if(!(_ui->comboBox_pipeline->currentIndex()==0 && _ui->groupBox_meshing->isChecked()) && _ui->doubleSpinBox_voxelSize_assembled->value()>0.0)
if(cloudWithoutNormals->size())
{
cloudWithoutNormals = util3d::voxelize(cloudWithoutNormals, indices, _ui->doubleSpinBox_voxelSize_assembled->value());
indices->resize(cloudWithoutNormals->size());
for(unsigned int i=0; i<indices->size(); ++i)
// Don't voxelize if we create organized mesh
if(!(_ui->comboBox_pipeline->currentIndex()==0 && _ui->groupBox_meshing->isChecked()) && _ui->doubleSpinBox_voxelSize_assembled->value()>0.0)
{
indices->at(i) = i;
cloudWithoutNormals = util3d::voxelize(cloudWithoutNormals, indices, _ui->doubleSpinBox_voxelSize_assembled->value());
indices->resize(cloudWithoutNormals->size());
for(unsigned int i=0; i<indices->size(); ++i)
{
indices->at(i) = i;
}
}
}
// view point
Eigen::Vector3f viewPoint(0.0f,0.0f,0.0f);
if(d.cameraModels().size() && !d.cameraModels()[0].localTransform().isNull())
{
viewPoint[0] = d.cameraModels()[0].localTransform().x();
viewPoint[1] = d.cameraModels()[0].localTransform().y();
viewPoint[2] = d.cameraModels()[0].localTransform().z();
}
else if(!d.stereoCameraModel().localTransform().isNull())
{
viewPoint[0] = d.stereoCameraModel().localTransform().x();
viewPoint[1] = d.stereoCameraModel().localTransform().y();
viewPoint[2] = d.stereoCameraModel().localTransform().z();
}
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloudWithoutNormals, indices, _ui->spinBox_normalKSearch->value(), viewPoint);
pcl::concatenateFields(*cloudWithoutNormals, *normals, *cloud);
if(_ui->groupBox_subtraction->isChecked() &&
_ui->doubleSpinBox_subtractPointFilteringRadius->value() > 0.0)
{
pcl::IndicesPtr beforeSubtractionIndices = indices;
if( cloud->size() &&
previousCloud.get() != 0 &&
previousIndices.get() != 0 &&
previousIndices->size() &&
!previousPose.isNull())
// view point
Eigen::Vector3f viewPoint(0.0f,0.0f,0.0f);
if(d.cameraModels().size() && !d.cameraModels()[0].localTransform().isNull())
{
rtabmap::Transform t = iter->second.inverse() * previousPose;
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr transformedCloud = rtabmap::util3d::transformPointCloud(previousCloud, t);
indices = rtabmap::util3d::subtractFiltering(
cloud,
indices,
transformedCloud,
previousIndices,
_ui->doubleSpinBox_subtractPointFilteringRadius->value(),
_ui->doubleSpinBox_subtractPointFilteringAngle->value(),
_ui->spinBox_subtractFilteringMinPts->value());
viewPoint[0] = d.cameraModels()[0].localTransform().x();
viewPoint[1] = d.cameraModels()[0].localTransform().y();
viewPoint[2] = d.cameraModels()[0].localTransform().z();
}
else if(!d.stereoCameraModel().localTransform().isNull())
{
viewPoint[0] = d.stereoCameraModel().localTransform().x();
viewPoint[1] = d.stereoCameraModel().localTransform().y();
viewPoint[2] = d.stereoCameraModel().localTransform().z();
}
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloudWithoutNormals, indices, _ui->spinBox_normalKSearch->value(), viewPoint);
pcl::concatenateFields(*cloudWithoutNormals, *normals, *cloud);
if(_ui->groupBox_subtraction->isChecked() &&
_ui->doubleSpinBox_subtractPointFilteringRadius->value() > 0.0)
{
pcl::IndicesPtr beforeSubtractionIndices = indices;
if( cloud->size() &&
previousCloud.get() != 0 &&
previousIndices.get() != 0 &&
previousIndices->size() &&
!previousPose.isNull())
{
rtabmap::Transform t = iter->second.inverse() * previousPose;
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr transformedCloud = rtabmap::util3d::transformPointCloud(previousCloud, t);
indices = rtabmap::util3d::subtractFiltering(
cloud,
indices,
transformedCloud,
previousIndices,
_ui->doubleSpinBox_subtractPointFilteringRadius->value(),
_ui->doubleSpinBox_subtractPointFilteringAngle->value(),
_ui->spinBox_subtractFilteringMinPts->value());
}
previousCloud = cloud;
previousIndices = beforeSubtractionIndices;
previousPose = iter->second;
}
previousCloud = cloud;
previousIndices = beforeSubtractionIndices;
previousPose = iter->second;
}
}
}