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

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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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40
corelib/src/util3d_filtering.cpp
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@@ -244,6 +244,46 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr randomSampling(
return output;
}
pcl::IndicesPtr passThrough(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const pcl::IndicesPtr & indices,
const std::string & axis,
float min,
float max,
bool negative)
{
UASSERT(max > min);
UASSERT(axis.compare("x") == 0 || axis.compare("y") == 0 || axis.compare("z") == 0);
pcl::IndicesPtr output(new std::vector<int>);
pcl::PassThrough<pcl::PointXYZ> filter;
filter.setNegative(negative);
filter.setFilterFieldName(axis);
filter.setFilterLimits(min, max);
filter.setInputCloud(cloud);
filter.filter(*output);
return output;
}
pcl::IndicesPtr passThrough(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices,
const std::string & axis,
float min,
float max,
bool negative)
{
UASSERT(max > min);
UASSERT(axis.compare("x") == 0 || axis.compare("y") == 0 || axis.compare("z") == 0);
pcl::IndicesPtr output(new std::vector<int>);
pcl::PassThrough<pcl::PointXYZRGB> filter;
filter.setNegative(negative);
filter.setFilterFieldName(axis);
filter.setFilterLimits(min, max);
filter.setInputCloud(cloud);
filter.filter(*output);
return output;
}
pcl::PointCloud<pcl::PointXYZ>::Ptr passThrough(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,