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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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18
guilib/src/LoopClosureViewer.cpp
View File

@@ -166,17 +166,17 @@ void LoopClosureViewer::updateView(const Transform & transform)
sA_->getDepthFx(), sA_->getDepthFy(),
decimation);
}
cloudA = util3d::removeNaNFromPointCloud<pcl::PointXYZRGB>(cloudA);
if(maxDepth>0.0)
{
{
cloudA = util3d::passThrough<pcl::PointXYZRGB>(cloudA, "z", 0, maxDepth);
}
if(samples>0 && (int)cloudA->size() > samples)
{
{
cloudA = util3d::sampling<pcl::PointXYZRGB>(cloudA, samples);
}
}
cloudA = util3d::transformPointCloud<pcl::PointXYZRGB>(cloudA, sA_->getLocalTransform());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudB;
@@ -198,23 +198,23 @@ void LoopClosureViewer::updateView(const Transform & transform)
sB_->getDepthFx(), sB_->getDepthFy(),
decimation);
}
cloudB = util3d::removeNaNFromPointCloud<pcl::PointXYZRGB>(cloudB);
if(maxDepth>0.0)
{
{
cloudB = util3d::passThrough<pcl::PointXYZRGB>(cloudB, "z", 0, maxDepth);
}
if(samples>0 && (int)cloudB->size() > samples)
{
{
cloudB = util3d::sampling<pcl::PointXYZRGB>(cloudB, samples);
}
}
cloudB = util3d::transformPointCloud<pcl::PointXYZRGB>(cloudB, t*sB_->getLocalTransform());
//cloud 2d
pcl::PointCloud<pcl::PointXYZ>::Ptr scanA, scanB;
scanA = util3d::depth2DToPointCloud(depth2dA);
scanB = util3d::depth2DToPointCloud(depth2dB);
scanB = util3d::depth2DToPointCloud(depth2dB);
scanB = util3d::transformPointCloud<pcl::PointXYZ>(scanB, t);
ui_->label_idA->setText(QString("[%1 (%2) -> %3 (%4)]").arg(sB_->id()).arg(cloudB->size()).arg(sA_->id()).arg(cloudA->size()));