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Add ceiling filter to rtabmap-export

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This commit is contained in:
Ines
2021-10-22 12:36:53 +02:00
parent 56c5622d20
commit 6cb741667d
1 changed files with 23 additions and 0 deletions
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tools/Export/main.cpp
+23
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@@ -115,6 +115,8 @@ void showUsage()
" --ymax # Maximum range on Y axis to keep nodes to export.\n"
" --zmin # Minimum range on Z axis to keep nodes to export.\n"
" --zmax # Maximum range on Z axis to keep nodes to export.\n"
" --filter_ceiling # Filter points over a custom height (dafault 2 m, 0=disabled).\n"
"\n%s", Parameters::showUsage());
;
exit(1);
@@ -177,6 +179,7 @@ int main(int argc, char * argv[])
std::string outputName;
std::string outputDir;
cv::Vec3f min, max;
float filter_ceiling;
for(int i=1; i<argc; ++i)
{
if(std::strcmp(argv[i], "--help") == 0)
@@ -656,6 +659,19 @@ int main(int argc, char * argv[])
showUsage();
}
}
else if(std::strcmp(argv[i], "--filter_ceiling") == 0)
{
++i;
if(i<argc-1)
{
filter_ceiling = uStr2Float(argv[i]);
}
else
{
showUsage();
}
}
}
if(decimation < 1)
@@ -1051,6 +1067,13 @@ int main(int argc, char * argv[])
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudToExport = mergedClouds;
pcl::PointCloud<pcl::PointXYZINormal>::Ptr cloudIToExport = mergedCloudsI;
if(filter_ceiling != 0.0)
{
cloudToExport = util3d::passThrough(cloudToExport, "z", -1, filter_ceiling);
cloudIToExport = util3d::passThrough(cloudIToExport, "z", -1, filter_ceiling);
}
if(voxelSize>0.0f)
{
printf("Voxel grid filtering of the assembled cloud... (voxel=%f, %d points)\n", voxelSize, !cloudToExport->empty()?(int)cloudToExport->size():(int)cloudIToExport->size());