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util3d_filtering: refactored implementations using templates. Parameters: Changed Grid/DepthMin|Max to Grid/RangeMin|Max, added Grid/PreVoxelFiltering, added GridBlobal/OctoMapOccupancyThr. OccupancyGrid: supporting input clouds already having normals. Memory: don't save working directory parameter to database.

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This commit is contained in:
matlabbe
2018-02-13 10:16:48 -05:00
parent 09cae9cbd3
commit 4c0a612ab5
16 changed files with 926 additions and 1203 deletions
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corelib/include/rtabmap/core/OccupancyGrid.h
+15 -2
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@@ -70,15 +70,17 @@ public:
cv::Mat & emptyCells,
cv::Point3f & viewPoint) const;
template<typename PointT>
void createLocalMap(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud, // in base_link frame
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 pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud, // in base_link frame
const typename pcl::PointCloud<PointT>::Ptr cloud, // in base_link frame
const pcl::IndicesPtr & indices,
const Transform & pose,
cv::Mat & groundCells,
@@ -98,6 +100,16 @@ 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_;
@@ -109,6 +121,7 @@ private:
float footprintHeight_;
int scanDecimation_;
float cellSize_;
bool preVoxelFiltering_;
bool occupancyFromCloud_;
bool projMapFrame_;
float maxObstacleHeight_;