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ExportDialog: added ground normals up option, added camera projection mask and decimation options. Export CLI: added --ground_normals_up and --cam_projection_mask options, changed --bin option by --ascii option (now binary by default). DBViewer: warn when scan from depth option is enabled but there is no depth.

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This commit is contained in:
matlabbe
2022-01-27 17:57:56 -05:00
parent a8e5bbf415
commit 402afc07ed
9 changed files with 626 additions and 352 deletions
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2
corelib/include/rtabmap/core/util3d.h
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@@ -313,6 +313,7 @@ std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_EXP projectC
float maxDistance = 0.0f,
float maxAngle = 0.0f,
const std::vector<float> & roiRatios = std::vector<float>(),
const cv::Mat & projMask = cv::Mat(),
bool distanceToCamPolicy = false,
const ProgressState * state = 0);
/**
@@ -326,6 +327,7 @@ std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_EXP projectC
float maxDistance = 0.0f,
float maxAngle = 0.0f,
const std::vector<float> & roiRatios = std::vector<float>(),
const cv::Mat & projMask = cv::Mat(),
bool distanceToCamPolicy = false,
const ProgressState * state = 0);

12
corelib/include/rtabmap/core/util3d_surface.h
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@@ -481,23 +481,27 @@ void RTABMAP_EXP adjustNormalsToViewPoints(
const std::map<int, Transform> & poses,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,
const std::vector<int> & rawCameraIndices,
pcl::PointCloud<pcl::PointNormal>::Ptr & cloud);
pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
float groundNormalsUp = 0.0f);
void RTABMAP_EXP adjustNormalsToViewPoints(
const std::map<int, Transform> & poses,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,
const std::vector<int> & rawCameraIndices,
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
float groundNormalsUp = 0.0f);
void RTABMAP_EXP adjustNormalsToViewPoints(
const std::map<int, Transform> & poses,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,
const std::vector<int> & rawCameraIndices,
pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud);
pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
float groundNormalsUp = 0.0f);
void RTABMAP_EXP adjustNormalsToViewPoints(
const std::map<int, Transform> & viewpoints,
const LaserScan & rawScan,
const std::vector<int> & viewpointIds,
LaserScan & scan);
LaserScan & scan,
float groundNormalsUp = 0.0f);
pcl::PolygonMesh::Ptr RTABMAP_EXP meshDecimation(const pcl::PolygonMesh::Ptr & mesh, float factor);