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Added util3d::segmentObstaclesFromGround() method, templated some PCL methods (new rtabmap/core/impl/util3d.hpp)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1921 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-24 16:58:32 +00:00
parent 2bd32e5a95
commit 60b0fd2e98
12 changed files with 658 additions and 626 deletions
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guilib/src/DatabaseViewer.cpp
+14 -14
View File
@@ -803,10 +803,10 @@ void DatabaseViewer::view3DMap()
if(maxDepth)
{
cloud = rtabmap::util3d::passThrough(cloud, "z", 0, maxDepth);
cloud = rtabmap::util3d::passThrough<pcl::PointXYZRGB>(cloud, "z", 0, maxDepth);
}
cloud = rtabmap::util3d::transformPointCloud(cloud, localTransform);
cloud = rtabmap::util3d::transformPointCloud<pcl::PointXYZRGB>(cloud, localTransform);
QColor color = Qt::red;
int mapId = memory_->getMapId(iter->first);
@@ -929,10 +929,10 @@ void DatabaseViewer::generate3DMap()
if(maxDepth)
{
cloud = rtabmap::util3d::passThrough(cloud, "z", 0, maxDepth);
cloud = rtabmap::util3d::passThrough<pcl::PointXYZRGB>(cloud, "z", 0, maxDepth);
}
cloud = rtabmap::util3d::transformPointCloud(cloud, pose*localTransform);
cloud = rtabmap::util3d::transformPointCloud<pcl::PointXYZRGB>(cloud, pose*localTransform);
std::string name = uFormat("%s/node%d.pcd", path.toStdString().c_str(), iter->first);
pcl::io::savePCDFile(name, *cloud);
UINFO("Saved %s (%d points)", name.c_str(), cloud->size());
@@ -1427,8 +1427,8 @@ void DatabaseViewer::updateConstraintView(const rtabmap::Link & link,
1);
}
cloudA = rtabmap::util3d::removeNaNFromPointCloud(cloudA);
cloudA = rtabmap::util3d::transformPointCloud(cloudA, localTransformA);
cloudA = rtabmap::util3d::removeNaNFromPointCloud<pcl::PointXYZRGB>(cloudA);
cloudA = rtabmap::util3d::transformPointCloud<pcl::PointXYZRGB>(cloudA, localTransformA);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudB;
if(depthB.type() == CV_8UC1)
@@ -1450,14 +1450,14 @@ void DatabaseViewer::updateConstraintView(const rtabmap::Link & link,
1);
}
cloudB = rtabmap::util3d::removeNaNFromPointCloud(cloudB);
cloudB = rtabmap::util3d::transformPointCloud(cloudB, t*localTransformB);
cloudB = rtabmap::util3d::removeNaNFromPointCloud<pcl::PointXYZRGB>(cloudB);
cloudB = rtabmap::util3d::transformPointCloud<pcl::PointXYZRGB>(cloudB, t*localTransformB);
//cloud 2d
pcl::PointCloud<pcl::PointXYZ>::Ptr scanA, scanB;
scanA = rtabmap::util3d::depth2DToPointCloud(depth2dA);
scanB = rtabmap::util3d::depth2DToPointCloud(depth2dB);
scanB = rtabmap::util3d::transformPointCloud(scanB, t);
scanB = rtabmap::util3d::transformPointCloud<pcl::PointXYZ>(scanB, t);
if(cloudA->size())
{
@@ -1746,8 +1746,8 @@ void DatabaseViewer::refineConstraint(int from, int to)
//voxelize
if(ui_->doubleSpinBox_icp_voxel->value() > 0.0f)
{
oldCloud = util3d::voxelize(oldCloud, ui_->doubleSpinBox_icp_voxel->value());
newCloud = util3d::voxelize(newCloud, ui_->doubleSpinBox_icp_voxel->value());
oldCloud = util3d::voxelize<pcl::PointXYZ>(oldCloud, ui_->doubleSpinBox_icp_voxel->value());
newCloud = util3d::voxelize<pcl::PointXYZ>(newCloud, ui_->doubleSpinBox_icp_voxel->value());
}
if(newCloud->size() && oldCloud->size())
@@ -1794,13 +1794,13 @@ void DatabaseViewer::refineConstraint(int from, int to)
pcl::PointCloud<pcl::PointNormal>::Ptr cloudANormals = util3d::computeNormals(cloudA, ui_->spinBox_icp_normalKSearch->value());
pcl::PointCloud<pcl::PointNormal>::Ptr cloudBNormals = util3d::computeNormals(cloudB, ui_->spinBox_icp_normalKSearch->value());
cloudANormals = util3d::removeNaNNormalsFromPointCloud(cloudANormals);
cloudANormals = util3d::removeNaNNormalsFromPointCloud<pcl::PointNormal>(cloudANormals);
if(cloudA->size() != cloudANormals->size())
{
UWARN("removed nan normals...");
}
cloudBNormals = util3d::removeNaNNormalsFromPointCloud(cloudBNormals);
cloudBNormals = util3d::removeNaNNormalsFromPointCloud<pcl::PointNormal>(cloudBNormals);
if(cloudB->size() != cloudBNormals->size())
{
UWARN("removed nan normals...");
@@ -1848,7 +1848,7 @@ void DatabaseViewer::refineConstraint(int from, int to)
}
if(ui_->dockWidget_constraints->isVisible())
{
cloudB = util3d::transformPointCloud(cloudB, transform);
cloudB = util3d::transformPointCloud<pcl::PointXYZ>(cloudB, transform);
this->updateConstraintView(newLink, cloudA, cloudB);
}
}