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Increased database version to 0.10.7: added scan_max_range column. Create2DMap: updated unknown cells filling depending on max laser scan range. Added util3d::frustumFiltering() to filter points in a specified frustum.

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This commit is contained in:
matlabbe
2015-09-17 22:55:45 -04:00
parent 007c192b6a
commit 55834644cf
14 changed files with 181 additions and 21 deletions
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corelib/src/Memory.cpp
+5 -1
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@@ -4302,6 +4302,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
SensorData(
ctDepth2d.getCompressedData(),
data.laserScanMaxPts(),
data.laserScanMaxRange(),
ctImage.getCompressedData(),
ctDepth.getCompressedData(),
stereoCameraModel,
@@ -4311,6 +4312,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
SensorData(
ctDepth2d.getCompressedData(),
data.laserScanMaxPts(),
data.laserScanMaxRange(),
ctImage.getCompressedData(),
ctDepth.getCompressedData(),
cameraModels,
@@ -4337,6 +4339,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
SensorData(
ctDepth2d.getCompressedData(),
data.laserScanMaxPts(),
data.laserScanMaxRange(),
cv::Mat(),
cv::Mat(),
stereoCameraModel,
@@ -4346,6 +4349,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
SensorData(
ctDepth2d.getCompressedData(),
data.laserScanMaxPts(),
data.laserScanMaxRange(),
cv::Mat(),
cv::Mat(),
cameraModels,
@@ -4359,7 +4363,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
{
s->sensorData().setImageRaw(image);
s->sensorData().setDepthOrRightRaw(depthOrRightImage);
s->sensorData().setLaserScanRaw(laserScan, data.laserScanMaxPts());
s->sensorData().setLaserScanRaw(laserScan, data.laserScanMaxPts(), data.laserScanMaxRange());
s->sensorData().setUserDataRaw(data.userDataRaw());
}