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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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1
guilib/src/CloudViewer.cpp
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@@ -33,7 +33,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/core/util3d.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/filters/frustum_culling.h>
#include <QMenu>
#include <QAction>
#include <QtGui/QContextMenuEvent>

2
guilib/src/DatabaseViewer.cpp
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@@ -848,6 +848,7 @@ void DatabaseViewer::exportDatabase()
sensorData = rtabmap::SensorData(
dialog.isDepth2dExported()?data.laserScanRaw():cv::Mat(),
dialog.isDepth2dExported()?data.laserScanMaxPts():0,
dialog.isDepth2dExported()?data.laserScanMaxRange():0,
dialog.isRgbExported()?data.imageRaw():cv::Mat(),
dialog.isDepthExported()?data.depthOrRightRaw():cv::Mat(),
data.cameraModels(),
@@ -860,6 +861,7 @@ void DatabaseViewer::exportDatabase()
sensorData = rtabmap::SensorData(
dialog.isDepth2dExported()?data.laserScanRaw():cv::Mat(),
dialog.isDepth2dExported()?data.laserScanMaxPts():0,
dialog.isDepth2dExported()?data.laserScanMaxRange():0,
dialog.isRgbExported()?data.imageRaw():cv::Mat(),
dialog.isDepthExported()?data.depthOrRightRaw():cv::Mat(),
data.stereoCameraModel(),