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RGBD/NeighborLinkRefining: do one proximity detection by time if intermediate nodes are added. Optimized radiusFiltering(). Updated default parameters of proportionalRadiusFiltering().

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matlabbe
2022-01-14 18:47:57 -05:00
parent 51f6b32f47
commit 29a2b64a0c
4 changed files with 39 additions and 32 deletions
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48
corelib/include/rtabmap/core/util3d_filtering.h
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@@ -466,38 +466,38 @@ pcl::IndicesPtr RTABMAP_EXP proportionalRadiusFiltering(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const std::vector<int> & viewpointIndices,
const std::map<int, Transform> & viewpoints,
float factor,
float neighborScale=1.0f);
float factor=0.01f,
float neighborScale=2.0f);
pcl::IndicesPtr RTABMAP_EXP proportionalRadiusFiltering(
const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
const std::vector<int> & viewpointIndices,
const std::map<int, Transform> & viewpoints,
float factor,
float neighborScale=1.0f);
float factor=0.01f,
float neighborScale=2.0f);
pcl::IndicesPtr RTABMAP_EXP proportionalRadiusFiltering(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const std::vector<int> & viewpointIndices,
const std::map<int, Transform> & viewpoints,
float factor,
float neighborScale=1.0f);
float factor=0.01f,
float neighborScale=2.0f);
pcl::IndicesPtr RTABMAP_EXP proportionalRadiusFiltering(
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
const std::vector<int> & viewpointIndices,
const std::map<int, Transform> & viewpoints,
float factor,
float neighborScale=1.0f);
float factor=0.01f,
float neighborScale=2.0f);
pcl::IndicesPtr RTABMAP_EXP proportionalRadiusFiltering(
const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
const std::vector<int> & viewpointIndices,
const std::map<int, Transform> & viewpoints,
float factor,
float neighborScale=1.0f);
float factor=0.01f,
float neighborScale=2.0f);
pcl::IndicesPtr RTABMAP_EXP proportionalRadiusFiltering(
const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
const std::vector<int> & viewpointIndices,
const std::map<int, Transform> & viewpoints,
float factor,
float neighborScale=1.0f);
float factor=0.01f,
float neighborScale=2.0f);
/**
* @brief Filter points based on distance from their viewpoint.
@@ -516,43 +516,43 @@ pcl::IndicesPtr RTABMAP_EXP proportionalRadiusFiltering(
const pcl::IndicesPtr & indices,
const std::vector<int> & viewpointIndices,
const std::map<int, Transform> & viewpoints,
float factor,
float neighborScale=1.0f);
float factor=0.01f,
float neighborScale=2.0f);
pcl::IndicesPtr RTABMAP_EXP proportionalRadiusFiltering(
const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
const pcl::IndicesPtr & indices,
const std::vector<int> & viewpointIndices,
const std::map<int, Transform> & viewpoints,
float factor,
float neighborScale=1.0f);
float factor=0.01f,
float neighborScale=2.0f);
pcl::IndicesPtr RTABMAP_EXP proportionalRadiusFiltering(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices,
const std::vector<int> & viewpointIndices,
const std::map<int, Transform> & viewpoints,
float factor,
float neighborScale=1.0f);
float factor=0.01f,
float neighborScale=2.0f);
pcl::IndicesPtr RTABMAP_EXP proportionalRadiusFiltering(
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
const pcl::IndicesPtr & indices,
const std::vector<int> & viewpointIndices,
const std::map<int, Transform> & viewpoints,
float factor,
float neighborScale=1.0f);
float factor=0.01f,
float neighborScale=2.0f);
pcl::IndicesPtr RTABMAP_EXP proportionalRadiusFiltering(
const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
const pcl::IndicesPtr & indices,
const std::vector<int> & viewpointIndices,
const std::map<int, Transform> & viewpoints,
float factor,
float neighborScale=1.0f);
float factor=0.01f,
float neighborScale=2.0f);
pcl::IndicesPtr RTABMAP_EXP proportionalRadiusFiltering(
const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
const pcl::IndicesPtr & indices,
const std::vector<int> & viewpointIndices,
const std::map<int, Transform> & viewpoints,
float factor,
float neighborScale=1.0f);
float factor=0.01f,
float neighborScale=2.0f);
/**
* For convenience.