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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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28
guilib/src/MainWindow.cpp
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@@ -636,7 +636,7 @@ void MainWindow::processOdometry(const rtabmap::SensorData & data, int quality,
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
cloud = util3d::depth2DToPointCloud(data.depth2d());
cloud = util3d::transformPointCloud(cloud, pose);
cloud = util3d::transformPointCloud<pcl::PointXYZ>(cloud, pose);
if(!_ui->widget_cloudViewer->addOrUpdateCloud("scanOdom", cloud, _odometryCorrection))
{
UERROR("Adding scanOdom to viewer failed!");
@@ -3178,13 +3178,13 @@ bool MainWindow::getExportedScans(std::map<int, pcl::PointCloud<pcl::PointXYZ>::
{
if(assemble)
{
*assembledScans += *util3d::transformPointCloud(scan, iter->second);;
*assembledScans += *util3d::transformPointCloud<pcl::PointXYZ>(scan, iter->second);;
if(count++ % 100 == 0)
{
if(assembledScans->size() && voxel)
{
assembledScans = util3d::voxelize(assembledScans, voxel);
assembledScans = util3d::voxelize<pcl::PointXYZ>(assembledScans, voxel);
}
}
}
@@ -3211,7 +3211,7 @@ bool MainWindow::getExportedScans(std::map<int, pcl::PointCloud<pcl::PointXYZ>::
{
if(voxel && assembledScans->size())
{
assembledScans = util3d::voxelize(assembledScans, voxel);
assembledScans = util3d::voxelize<pcl::PointXYZ>(assembledScans, voxel);
}
if(assembledScans->size())
{
@@ -3529,7 +3529,7 @@ void MainWindow::saveClouds(const std::map<int, pcl::PointCloud<pcl::PointXYZRGB
if(iter->second->size())
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformedCloud;
transformedCloud = util3d::transformPointCloud(iter->second, _currentPosesMap.at(iter->first));
transformedCloud = util3d::transformPointCloud<pcl::PointXYZRGB>(iter->second, _currentPosesMap.at(iter->first));
QString pathFile = path+QDir::separator()+QString("%1%2.%3").arg(prefix).arg(iter->first).arg(suffix);
bool success =false;
@@ -3630,7 +3630,7 @@ void MainWindow::saveMeshes(const std::map<int, pcl::PolygonMesh::Ptr> & meshes)
mesh.polygons = iter->second->polygons;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr tmp(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::fromPCLPointCloud2(iter->second->cloud, *tmp);
tmp = util3d::transformPointCloud(tmp, _currentPosesMap.at(iter->first));
tmp = util3d::transformPointCloud<pcl::PointXYZRGB>(tmp, _currentPosesMap.at(iter->first));
pcl::toPCLPointCloud2(*tmp, mesh.cloud);
QString pathFile = path+QDir::separator()+QString("%1%2.%3").arg(prefix).arg(iter->first).arg(suffix);
@@ -3736,7 +3736,7 @@ void MainWindow::saveScans(const std::map<int, pcl::PointCloud<pcl::PointXYZ>::P
if(iter->second->size())
{
pcl::PointCloud<pcl::PointXYZ>::Ptr transformedCloud;
transformedCloud = util3d::transformPointCloud(iter->second, _currentPosesMap.at(iter->first));
transformedCloud = util3d::transformPointCloud<pcl::PointXYZ>(iter->second, _currentPosesMap.at(iter->first));
QString pathFile = path+QDir::separator()+QString("%1%2.%3").arg(prefix).arg(iter->first).arg(suffix);
bool success =false;
@@ -3814,24 +3814,24 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr MainWindow::createCloud(
bool filtered = false;
if(cloud->size() && maxDepth)
{
cloud = util3d::passThrough(cloud, "z", 0, maxDepth);
cloud = util3d::passThrough<pcl::PointXYZRGB>(cloud, "z", 0, maxDepth);
filtered = true;
}
if(cloud->size() && voxelSize)
{
cloud = util3d::voxelize(cloud, voxelSize);
cloud = util3d::voxelize<pcl::PointXYZRGB>(cloud, voxelSize);
filtered = true;
}
if(cloud->size() && !filtered)
{
cloud = util3d::removeNaNFromPointCloud (cloud);
cloud = util3d::removeNaNFromPointCloud<pcl::PointXYZRGB>(cloud);
}
if(cloud->size())
{
cloud = util3d::transformPointCloud(cloud, pose * localTransform);
cloud = util3d::transformPointCloud<pcl::PointXYZRGB>(cloud, pose * localTransform);
}
}
UDEBUG("Generated cloud %d (pts=%d) time=%fs", id, (int)cloud->size(), timer.ticks());
@@ -3874,7 +3874,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr MainWindow::getAssembledCloud(
}
else if(uContains(_createdClouds, iter->first))
{
cloud = util3d::transformPointCloud(_createdClouds.at(iter->first), iter->second);
cloud = util3d::transformPointCloud<pcl::PointXYZRGB>(_createdClouds.at(iter->first), iter->second);
}
if(cloud->size())
@@ -3903,7 +3903,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr MainWindow::getAssembledCloud(
{
if(assembledCloud->size() && assembledVoxelSize)
{
assembledCloud = util3d::voxelize(assembledCloud, assembledVoxelSize);
assembledCloud = util3d::voxelize<pcl::PointXYZRGB>(assembledCloud, assembledVoxelSize);
}
}
}
@@ -3917,7 +3917,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr MainWindow::getAssembledCloud(
if(assembledCloud->size() && assembledVoxelSize)
{
assembledCloud = util3d::voxelize(assembledCloud, assembledVoxelSize);
assembledCloud = util3d::voxelize<pcl::PointXYZRGB>(assembledCloud, assembledVoxelSize);
}
return assembledCloud;