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Added new options to filter source laser scans.

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SensorData can support laser scans CV_32FC6 format (point cloud with normals). Refactored RegistrationICP and updated CloudViewer to show PointNormal data.
Fixed bug with stereo clouds deterioration if decimation is set (CameraModel::scale()).
This commit is contained in:
matlabbe
2016-01-08 19:15:49 -05:00
parent e7565db5d0
commit 75f85f6b2a
31 changed files with 866 additions and 371 deletions
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34
corelib/src/CameraRGB.cpp
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@@ -39,7 +39,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/imgproc/imgproc.hpp>
#include <rtabmap/core/util3d.h>
#include <pcl/io/pcd_io.h>
#include <rtabmap/core/util3d_filtering.h>
#include <iostream>
#include <cmath>
@@ -61,6 +61,9 @@ CameraImages::CameraImages() :
_countScan(0),
_scanDir(0),
_scanMaxPts(0),
_scanDownsampleStep(1),
_scanVoxelSize(0.0f),
_scanNormalsK(0),
_filenamesAreTimestamps(false),
_groundTruthFormat(0)
{}
@@ -79,6 +82,9 @@ CameraImages::CameraImages(const std::string & path,
_countScan(0),
_scanDir(0),
_scanMaxPts(0),
_scanDownsampleStep(1),
_scanVoxelSize(0.0f),
_scanNormalsK(0),
_filenamesAreTimestamps(false),
_groundTruthFormat(0)
{
@@ -140,7 +146,7 @@ bool CameraImages::init(const std::string & calibrationFolder, const std::string
if(!_scanPath.empty())
{
UINFO("scan path=%s", _scanPath.c_str());
_scanDir = new UDirectory(_scanPath, "pcd bin"); // "bin" is for KITTI format
_scanDir = new UDirectory(_scanPath, "pcd bin ply"); // "bin" is for KITTI format
if(_scanPath[_scanPath.size()-1] != '\\' && _scanPath[_scanPath.size()-1] != '/')
{
_scanPath.append("/");
@@ -407,16 +413,8 @@ SensorData CameraImages::captureImage()
{
_lastScanFileName = *scanFileNames.rbegin();
std::string fullPath = _scanPath + _lastScanFileName;
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
if(UFile::getExtension(_lastScanFileName).compare("bin") == 0)
{
cloud = util3d::loadBINCloud(fullPath, 4); // Assume KITTI velodyne format
}
else
{
pcl::io::loadPCDFile(fullPath, *cloud);
}
scan = util3d::laserScanFromPointCloud(*cloud, _scanLocalTransform);
scan = util3d::loadScan(fullPath, _scanLocalTransform, _scanDownsampleStep, _scanVoxelSize, _scanNormalsK);
}
}
}
@@ -508,17 +506,7 @@ SensorData CameraImages::captureImage()
}
if(fileName.size())
{
UDEBUG("Loading scan : %s", fullPath.c_str());
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
if(UFile::getExtension(fileName).compare("bin") == 0)
{
cloud = util3d::loadBINCloud(fullPath, 4); // Assume KITTI velodyne format
}
else
{
pcl::io::loadPCDFile(fullPath, *cloud);
}
scan = util3d::laserScanFromPointCloud(*cloud, _scanLocalTransform);
scan = util3d::loadScan(fullPath, _scanLocalTransform, _scanDownsampleStep, _scanVoxelSize, _scanNormalsK);
}
}
}