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Grid/DetectFlatObstacles default true. segmentObstaclesFromGround(): Fixed not used indices still kept in obstacles output

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matlabbe
2016-08-26 11:41:35 -04:00
parent 797f1f0f1c
commit 4e027a6515
4 changed files with 95 additions and 89 deletions
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2
corelib/include/rtabmap/core/Parameters.h
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@@ -477,7 +477,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Grid, MaxGroundAngle, float, 45, uFormat("[%s=true] Maximum angle (degrees) between point's normal to ground's normal to label it as ground. Points with higher angle difference are considered as obstacles.", kGridNormalsSegmentation().c_str()));
RTABMAP_PARAM(Grid, NormalK, int, 10, uFormat("[%s=true] K neighbors to compute normals.", kGridNormalsSegmentation().c_str()))
RTABMAP_PARAM(Grid, MinClusterSize, int, 10, uFormat("[%s=true] Minimum cluster size to project the points. The distance between clusters is defined by 2*\"%s\".", kGridNormalsSegmentation().c_str(), kGridCellSize().c_str()));
RTABMAP_PARAM(Grid, FlatObstacleDetected, bool, false, uFormat("[%s=true] Flat obstacles detected.", kGridNormalsSegmentation().c_str()));
RTABMAP_PARAM(Grid, FlatObstacleDetected, bool, true, uFormat("[%s=true] Flat obstacles detected.", kGridNormalsSegmentation().c_str()));
#ifdef RTABMAP_OCTOMAP
RTABMAP_PARAM(Grid, 3D, bool, true, uFormat("A 3D occupancy grid is required if you want an Octomap. Set to false if you want only a 2D map, the cloud will be projected on xy plane. A 2D map can be still generated if checked, but it requires more memory and time to generate it. Ignored if laser scan is 2D and \"%s\" is false.", kGridFromDepth().c_str()));
#else

8
corelib/include/rtabmap/core/impl/util3d_mapping.hpp
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@@ -141,7 +141,13 @@ void segmentObstaclesFromGround(
if(ground->size() != cloud->size())
{
// Remove ground
pcl::IndicesPtr otherStuffIndices = util3d::extractIndices(cloud, ground, true);
pcl::IndicesPtr notObstacles = ground;
if(indices->size())
{
notObstacles = util3d::extractIndices(cloud, indices, true);
notObstacles = util3d::concatenate(notObstacles, ground);
}
pcl::IndicesPtr otherStuffIndices = util3d::extractIndices(cloud, notObstacles, true);
// If ground height is set, remove obstacles under it
if(maxGroundHeight > 0.0f)