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Added util3d::pasthrough returning indices for convenience. segmentObstaclesFromGound(): filtering obstacles under maxGroundHeight if set

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This commit is contained in:
matlabbe
2016-05-21 15:54:37 -04:00
parent 904f4bb4d8
commit 7aa9c92971
3 changed files with 62 additions and 1 deletions
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9
corelib/include/rtabmap/core/impl/util3d_mapping.hpp
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@@ -76,7 +76,8 @@ void segmentObstaclesFromGround(
{
Eigen::Vector4f centroid;
pcl::compute3DCentroid(*cloud, *clusteredFlatSurfaces.at(i), centroid);
if(centroid[2] >= min[2]-0.01 && centroid[2] <= max[2]+0.01) // epsilon
if(centroid[2] >= min[2]-0.01 &&
(centroid[2] <= max[2]+0.01 || (maxGroundHeight>0 && centroid[2] <= maxGroundHeight+0.01))) // epsilon
{
ground = util3d::concatenate(ground, clusteredFlatSurfaces.at(i));
}
@@ -108,6 +109,12 @@ void segmentObstaclesFromGround(
// Remove ground
pcl::IndicesPtr otherStuffIndices = util3d::extractIndices(cloud, ground, true);
// If ground height is set, remove obstacles under it
if(maxGroundHeight > 0.0f)
{
otherStuffIndices = rtabmap::util3d::passThrough(cloud, otherStuffIndices, "z", maxGroundHeight, std::numeric_limits<float>::max());
}
//Cluster remaining stuff (obstacles)
std::vector<pcl::IndicesPtr> clusteredObstaclesSurfaces = util3d::extractClusters(
cloud,

14
corelib/include/rtabmap/core/util3d_filtering.h
View File

@@ -108,6 +108,20 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP randomSampling(
int samples);
pcl::IndicesPtr RTABMAP_EXP passThrough(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const pcl::IndicesPtr & indices,
const std::string & axis,
float min,
float max,
bool negative = false);
pcl::IndicesPtr RTABMAP_EXP passThrough(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices,
const std::string & axis,
float min,
float max,
bool negative = false);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP passThrough(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const std::string & axis,