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0.11.4: API change: added minDepth parameter to cloudFromXXXXX() methods and removed voxel parameter

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This commit is contained in:
matlabbe
2016-04-12 15:14:04 -04:00
parent f185a4d739
commit 684e9fb8b9
19 changed files with 310 additions and 183 deletions
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1
corelib/include/rtabmap/core/CameraThread.h
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@@ -91,6 +91,7 @@ private:
bool _scanFromDepth;
int _scanDecimation;
float _scanMaxDepth;
float _scanMinDepth;
float _scanVoxelSize;
int _scanNormalsK;
StereoDense * _stereoDense;

21
corelib/include/rtabmap/core/util3d.h
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@@ -79,6 +79,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromDepth(
float fx, float fy,
int decimation = 1,
float maxDepth = 0.0f,
float minDepth = 0.0f,
std::vector<int> * validIndices = 0);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromDepthRGB(
@@ -88,6 +89,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromDepthRGB(
float fx, float fy,
int decimation = 1,
float maxDepth = 0.0f,
float minDepth = 0.0f,
std::vector<int> * validIndices = 0);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromDisparity(
@@ -95,6 +97,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromDisparity(
const StereoCameraModel & model,
int decimation = 1,
float maxDepth = 0.0f,
float minDepth = 0.0f,
std::vector<int> * validIndices = 0);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromDisparityRGB(
@@ -103,6 +106,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromDisparityRGB(
const StereoCameraModel & model,
int decimation = 1,
float maxDepth = 0.0f,
float minDepth = 0.0f,
std::vector<int> * validIndices = 0);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromStereoImages(
@@ -111,29 +115,26 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromStereoImages(
const StereoCameraModel & model,
int decimation = 1,
float maxDepth = 0.0f,
float minDepth = 0.0f,
std::vector<int> * validIndices = 0);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromSensorData(
const SensorData & sensorData,
int decimation = 1,
float maxDepth = 0.0f,
float voxelSize = 0.0f,
int samples = 0,
float minDepth = 0.0f,
std::vector<int> * validIndices = 0);
/**
* Create an RGB cloud from the images contained in SensorData. If "voxelSize" and
* "samples" are not set (0), the returned cloud is organized. Otherwise, all NaN
* Create an RGB cloud from the images contained in SensorData. If there is only one camera,
* the returned cloud is organized. Otherwise, all NaN
* points are removed and the cloud will be dense.
*
* Note that multiple RGB-D camera images will result in a dense cloud.
*
* @param sensorData, the sensor data.
* @param decimation, images are decimated by this factor before projecting points to 3D. The factor
* should be a factor of the image width and height.
* @param maxDepth, maximum depth of the projected points (farther points are set to null in case of an organized cloud).
* @param voxelSize, use a voxel grid filter with this size of voxel.
* @param samples, random sampling filtering target cloud size.
* @param minDepth, minimum depth of the projected points (closer points are set to null in case of an organized cloud).
* @param validIndices, the indices of valid points in the cloud
* @return a RGB cloud.
*/
@@ -141,8 +142,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
const SensorData & sensorData,
int decimation = 1,
float maxDepth = 0.0f,
float voxelSize = 0.0f,
int samples = 0,
float minDepth = 0.0f,
std::vector<int> * validIndices = 0);
pcl::PointCloud<pcl::PointXYZ> RTABMAP_EXP laserScanFromDepthImage(
@@ -152,6 +152,7 @@ pcl::PointCloud<pcl::PointXYZ> RTABMAP_EXP laserScanFromDepthImage(
float cx,
float cy,
float maxDepth = 0,
float minDepth = 0,
const Transform & localTransform = Transform::getIdentity());
// return CV_32FC3