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Tango: fixed optimized mesh where nans were removed before saving (causing trouble with corresponding polygons)

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matlabbe
2018-03-21 16:00:12 -04:00
parent b0b3b491a0
commit 8d93c275ab
4 changed files with 91 additions and 84 deletions
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42
corelib/include/rtabmap/core/util3d.h
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@@ -196,37 +196,37 @@ pcl::PointCloud<pcl::PointXYZ> RTABMAP_EXP laserScanFromDepthImages(
float maxDepth,
float minDepth);
LaserScan RTABMAP_EXP laserScanFromPointCloud(const pcl::PCLPointCloud2 & cloud);
LaserScan RTABMAP_EXP laserScanFromPointCloud(const pcl::PCLPointCloud2 & cloud, bool filterNaNs = true);
// return CV_32FC3 (x,y,z)
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform());
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform());
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
// return CV_32FC6 (x,y,z,normal_x,normal_y,normal_z)
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const Transform & transform = Transform());
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform());
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform());
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
// return CV_32FC4 (x,y,z,rgb)
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const Transform & transform = Transform());
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform());
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
// return CV_32FC4 (x,y,z,I)
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const Transform & transform = Transform());
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform());
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
// return CV_32FC7 (x,y,z,rgb,normal_x,normal_y,normal_z)
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform());
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const Transform & transform = Transform());
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform());
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
// return CV_32FC7 (x,y,z,I,normal_x,normal_y,normal_z)
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform());
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const Transform & transform = Transform());
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
// return CV_32FC2 (x,y)
cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform());
cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
// return CV_32FC3 (x,y,I)
cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const Transform & transform = Transform());
cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
// return CV_32FC5 (x,y,normal_x, normal_y, normal_z)
cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const Transform & transform = Transform());
cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform());
cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
// return CV_32FC6 (x,y,I,normal_x, normal_y, normal_z)
cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const Transform & transform = Transform());
cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform());
cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
// For 2d laserScan, z is set to null.
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP laserScanToPointCloud(const LaserScan & laserScan, const Transform & transform = Transform());

5
corelib/src/DBDriverSqlite3.cpp
View File

@@ -4328,8 +4328,10 @@ void DBDriverSqlite3::saveOptimizedMeshQuery(
}
else
{
UDEBUG("Cloud points=%d", cloud.cols);
compressedCloud = compressData2(cloud);
}
UDEBUG("Cloud compressed bytes=%d", compressedCloud.cols);
rc = sqlite3_bind_blob(ppStmt, index++, compressedCloud.data, compressedCloud.cols, SQLITE_STATIC);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
@@ -4392,6 +4394,7 @@ void DBDriverSqlite3::saveOptimizedMeshQuery(
UASSERT(texCoords.empty() || polygons.size() == texCoords.size());
for(unsigned int t=0; t<polygons.size(); ++t)
{
UDEBUG("t=%d, polygons=%d", t, (int)polygons[t].size());
unsigned int materialPolygonIndices = 0;
for(unsigned int p=0; p<polygons[t].size(); ++p)
{
@@ -4446,6 +4449,7 @@ void DBDriverSqlite3::saveOptimizedMeshQuery(
}
}
UDEBUG("serializedPolygons=%d", (int)serializedPolygons.size());
compressedPolygons = compressData2(cv::Mat(1,serializedPolygons.size(), CV_32SC1, serializedPolygons.data()));
// polygon size
@@ -4467,6 +4471,7 @@ void DBDriverSqlite3::saveOptimizedMeshQuery(
}
else
{
UDEBUG("serializedTexCoords=%d", (int)serializedTexCoords.size());
compressedTexCoords = compressData2(cv::Mat(1,serializedTexCoords.size(), CV_32FC1, serializedTexCoords.data()));
rc = sqlite3_bind_blob(ppStmt, index++, compressedTexCoords.data, compressedTexCoords.cols, SQLITE_STATIC);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());

108
corelib/src/util3d.cpp
View File

@@ -1262,7 +1262,7 @@ pcl::PointCloud<pcl::PointXYZ> laserScanFromDepthImages(
return scan;
}
LaserScan laserScanFromPointCloud(const pcl::PCLPointCloud2 & cloud)
LaserScan laserScanFromPointCloud(const pcl::PCLPointCloud2 & cloud, bool filterNaNs)
{
if(cloud.data.empty())
{
@@ -1476,7 +1476,7 @@ LaserScan laserScanFromPointCloud(const pcl::PCLPointCloud2 & cloud)
UFATAL("Cannot handle as many channels (%d)!", laserScan.channels());
}
if(valid)
if(!filterNaNs || valid)
{
++oi;
}
@@ -1489,11 +1489,11 @@ LaserScan laserScanFromPointCloud(const pcl::PCLPointCloud2 & cloud)
return LaserScan(laserScan(cv::Range::all(), cv::Range(0,oi)), 0, 0, format);
}
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform)
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform, bool filterNaNs)
{
return laserScanFromPointCloud(cloud, pcl::IndicesPtr(), transform);
return laserScanFromPointCloud(cloud, pcl::IndicesPtr(), transform, filterNaNs);
}
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::IndicesPtr & indices, const Transform & transform)
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::IndicesPtr & indices, const Transform & transform, bool filterNaNs)
{
cv::Mat laserScan;
bool nullTransform = transform.isNull() || transform.isIdentity();
@@ -1505,7 +1505,7 @@ cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, co
for(unsigned int i=0; i<indices->size(); ++i)
{
int index = indices->at(i);
if(pcl::isFinite(cloud.at(index)))
if(!filterNaNs || pcl::isFinite(cloud.at(index)))
{
float * ptr = laserScan.ptr<float>(0, oi++);
if(!nullTransform)
@@ -1529,7 +1529,7 @@ cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, co
laserScan = cv::Mat(1, (int)cloud.size(), CV_32FC3);
for(unsigned int i=0; i<cloud.size(); ++i)
{
if(pcl::isFinite(cloud.at(i)))
if(!filterNaNs || pcl::isFinite(cloud.at(i)))
{
float * ptr = laserScan.ptr<float>(0, oi++);
if(!nullTransform)
@@ -1555,11 +1555,11 @@ cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, co
return laserScan(cv::Range::all(), cv::Range(0,oi));
}
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const Transform & transform)
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const Transform & transform, bool filterNaNs)
{
return laserScanFromPointCloud(cloud, pcl::IndicesPtr(), transform);
return laserScanFromPointCloud(cloud, pcl::IndicesPtr(), transform, filterNaNs);
}
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform)
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform, bool filterNaNs)
{
cv::Mat laserScan;
bool nullTransform = transform.isNull() || transform.isIdentity();
@@ -1570,10 +1570,10 @@ cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud,
for(unsigned int i=0; i<indices->size(); ++i)
{
int index = indices->at(i);
if(pcl::isFinite(cloud.at(index)) &&
if(!filterNaNs || (pcl::isFinite(cloud.at(index)) &&
uIsFinite(cloud.at(index).normal_x) &&
uIsFinite(cloud.at(index).normal_y) &&
uIsFinite(cloud.at(index).normal_z))
uIsFinite(cloud.at(index).normal_z)))
{
float * ptr = laserScan.ptr<float>(0, oi++);
if(!nullTransform)
@@ -1603,10 +1603,10 @@ cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud,
laserScan = cv::Mat(1, (int)cloud.size(), CV_32FC(6));
for(unsigned int i=0; i<cloud.size(); ++i)
{
if(pcl::isFinite(cloud.at(i)) &&
if(!filterNaNs || (pcl::isFinite(cloud.at(i)) &&
uIsFinite(cloud.at(i).normal_x) &&
uIsFinite(cloud.at(i).normal_y) &&
uIsFinite(cloud.at(i).normal_z))
uIsFinite(cloud.at(i).normal_z)))
{
float * ptr = laserScan.ptr<float>(0, oi++);
if(!nullTransform)
@@ -1638,7 +1638,7 @@ cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud,
return laserScan(cv::Range::all(), cv::Range(0,oi));
}
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform)
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform, bool filterNaNs)
{
UASSERT(cloud.size() == normals.size());
cv::Mat laserScan = cv::Mat(1, (int)cloud.size(), CV_32FC(6));
@@ -1646,7 +1646,7 @@ cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, co
int oi =0;
for(unsigned int i=0; i<cloud.size(); ++i)
{
if(pcl::isFinite(cloud.at(i)) && pcl::isFinite(normals.at(i)))
if(!filterNaNs || (pcl::isFinite(cloud.at(i)) && pcl::isFinite(normals.at(i))))
{
float * ptr = laserScan.ptr<float>(0, oi++);
if(!nullTransform)
@@ -1684,12 +1684,12 @@ cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, co
return laserScan(cv::Range::all(), cv::Range(0,oi));
}
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const Transform & transform)
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const Transform & transform, bool filterNaNs)
{
return laserScanFromPointCloud(cloud, pcl::IndicesPtr(), transform);
return laserScanFromPointCloud(cloud, pcl::IndicesPtr(), transform, filterNaNs);
}
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const pcl::IndicesPtr & indices, const Transform & transform)
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const pcl::IndicesPtr & indices, const Transform & transform, bool filterNaNs)
{
cv::Mat laserScan;
bool nullTransform = transform.isNull() || transform.isIdentity();
@@ -1701,7 +1701,7 @@ cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud,
for(unsigned int i=0; i<indices->size(); ++i)
{
int index = indices->at(i);
if(pcl::isFinite(cloud.at(index)))
if(!filterNaNs || pcl::isFinite(cloud.at(index)))
{
float * ptr = laserScan.ptr<float>(0, oi++);
if(!nullTransform)
@@ -1727,7 +1727,7 @@ cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud,
laserScan = cv::Mat(1, (int)cloud.size(), CV_32FC(4));
for(unsigned int i=0; i<cloud.size(); ++i)
{
if(pcl::isFinite(cloud.at(i)))
if(!filterNaNs || pcl::isFinite(cloud.at(i)))
{
float * ptr = laserScan.ptr<float>(0, oi++);
if(!nullTransform)
@@ -1755,12 +1755,12 @@ cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud,
return laserScan(cv::Range::all(), cv::Range(0,oi));
}
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const Transform & transform)
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const Transform & transform, bool filterNaNs)
{
return laserScanFromPointCloud(cloud, pcl::IndicesPtr(), transform);
return laserScanFromPointCloud(cloud, pcl::IndicesPtr(), transform, filterNaNs);
}
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::IndicesPtr & indices, const Transform & transform)
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::IndicesPtr & indices, const Transform & transform, bool filterNaNs)
{
cv::Mat laserScan;
bool nullTransform = transform.isNull() || transform.isIdentity();
@@ -1772,7 +1772,7 @@ cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, c
for(unsigned int i=0; i<indices->size(); ++i)
{
int index = indices->at(i);
if(pcl::isFinite(cloud.at(index)))
if(!filterNaNs || pcl::isFinite(cloud.at(index)))
{
float * ptr = laserScan.ptr<float>(0, oi++);
if(!nullTransform)
@@ -1797,7 +1797,7 @@ cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, c
laserScan = cv::Mat(1, (int)cloud.size(), CV_32FC(4));
for(unsigned int i=0; i<cloud.size(); ++i)
{
if(pcl::isFinite(cloud.at(i)))
if(!filterNaNs || pcl::isFinite(cloud.at(i)))
{
float * ptr = laserScan.ptr<float>(0, oi++);
if(!nullTransform)
@@ -1824,7 +1824,7 @@ cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, c
return laserScan(cv::Range::all(), cv::Range(0,oi));
}
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform)
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform, bool filterNaNs)
{
UASSERT(cloud.size() == normals.size());
cv::Mat laserScan(1, (int)cloud.size(), CV_32FC(7));
@@ -1832,7 +1832,7 @@ cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud,
int oi = 0;
for(unsigned int i=0; i<cloud.size(); ++i)
{
if(pcl::isFinite(cloud.at(i)))
if(!filterNaNs || pcl::isFinite(cloud.at(i)))
{
float * ptr = laserScan.ptr<float>(0, oi++);
if(!nullTransform)
@@ -1872,11 +1872,11 @@ cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud,
return laserScan(cv::Range::all(), cv::Range(0,oi));
}
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const Transform & transform)
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const Transform & transform, bool filterNaNs)
{
return laserScanFromPointCloud(cloud, pcl::IndicesPtr(), transform);
return laserScanFromPointCloud(cloud, pcl::IndicesPtr(), transform, filterNaNs);
}
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform)
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform, bool filterNaNs)
{
cv::Mat laserScan;
bool nullTransform = transform.isNull() || transform.isIdentity();
@@ -1887,10 +1887,10 @@ cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> &
for(unsigned int i=0; i<indices->size(); ++i)
{
int index = indices->at(i);
if(pcl::isFinite(cloud.at(index)) &&
if(!filterNaNs || (pcl::isFinite(cloud.at(index)) &&
uIsFinite(cloud.at(index).normal_x) &&
uIsFinite(cloud.at(index).normal_y) &&
uIsFinite(cloud.at(index).normal_z))
uIsFinite(cloud.at(index).normal_z)))
{
float * ptr = laserScan.ptr<float>(0, oi++);
if(!nullTransform)
@@ -1922,10 +1922,10 @@ cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> &
laserScan = cv::Mat(1, (int)cloud.size(), CV_32FC(7));
for(unsigned int i=0; i<cloud.size(); ++i)
{
if(pcl::isFinite(cloud.at(i)) &&
if(!filterNaNs || (pcl::isFinite(cloud.at(i)) &&
uIsFinite(cloud.at(i).normal_x) &&
uIsFinite(cloud.at(i).normal_y) &&
uIsFinite(cloud.at(i).normal_z))
uIsFinite(cloud.at(i).normal_z)))
{
float * ptr = laserScan.ptr<float>(0, oi++);
if(!nullTransform)
@@ -1959,7 +1959,7 @@ cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> &
return laserScan(cv::Range::all(), cv::Range(0,oi));
}
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform)
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform, bool filterNaNs)
{
UASSERT(cloud.size() == normals.size());
cv::Mat laserScan(1, (int)cloud.size(), CV_32FC(7));
@@ -1967,7 +1967,7 @@ cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, c
int oi=0;
for(unsigned int i=0; i<cloud.size(); ++i)
{
if(pcl::isFinite(cloud.at(i)) && pcl::isFinite(normals.at(i)))
if(!filterNaNs || (pcl::isFinite(cloud.at(i)) && pcl::isFinite(normals.at(i))))
{
float * ptr = laserScan.ptr<float>(0, oi++);
if(!nullTransform)
@@ -2005,17 +2005,17 @@ cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, c
}
return laserScan(cv::Range::all(), cv::Range(0,oi));
}
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const Transform & transform)
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const Transform & transform, bool filterNaNs)
{
cv::Mat laserScan(1, (int)cloud.size(), CV_32FC(7));
bool nullTransform = transform.isNull() || transform.isIdentity();
int oi = 0;
for(unsigned int i=0; i<cloud.size(); ++i)
{
if(pcl::isFinite(cloud.at(i)) &&
if(!filterNaNs || (pcl::isFinite(cloud.at(i)) &&
uIsFinite(cloud.at(i).normal_x) &&
uIsFinite(cloud.at(i).normal_y) &&
uIsFinite(cloud.at(i).normal_z))
uIsFinite(cloud.at(i).normal_z)))
{
float * ptr = laserScan.ptr<float>(0, oi++);
if(!nullTransform)
@@ -2047,7 +2047,7 @@ cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cl
return laserScan(cv::Range::all(), cv::Range(0,oi));
}
cv::Mat laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform)
cv::Mat laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform, bool filterNaNs)
{
cv::Mat laserScan(1, (int)cloud.size(), CV_32FC2);
bool nullTransform = transform.isNull();
@@ -2055,7 +2055,7 @@ cv::Mat laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud,
int oi=0;
for(unsigned int i=0; i<cloud.size(); ++i)
{
if(pcl::isFinite(cloud.at(i)))
if(!filterNaNs || pcl::isFinite(cloud.at(i)))
{
float * ptr = laserScan.ptr<float>(0, oi++);
if(!nullTransform)
@@ -2079,7 +2079,7 @@ cv::Mat laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud,
return laserScan(cv::Range::all(), cv::Range(0,oi));
}
cv::Mat laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const Transform & transform)
cv::Mat laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const Transform & transform, bool filterNaNs)
{
cv::Mat laserScan(1, (int)cloud.size(), CV_32FC3);
bool nullTransform = transform.isNull();
@@ -2087,7 +2087,7 @@ cv::Mat laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud,
int oi=0;
for(unsigned int i=0; i<cloud.size(); ++i)
{
if(pcl::isFinite(cloud.at(i)))
if(!filterNaNs || pcl::isFinite(cloud.at(i)))
{
float * ptr = laserScan.ptr<float>(0, oi++);
if(!nullTransform)
@@ -2113,17 +2113,17 @@ cv::Mat laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud,
return laserScan(cv::Range::all(), cv::Range(0,oi));
}
cv::Mat laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const Transform & transform)
cv::Mat laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const Transform & transform, bool filterNaNs)
{
cv::Mat laserScan(1, (int)cloud.size(), CV_32FC(5));
bool nullTransform = transform.isNull();
int oi=0;
for(unsigned int i=0; i<cloud.size(); ++i)
{
if(pcl::isFinite(cloud.at(i)) &&
if(!filterNaNs || (pcl::isFinite(cloud.at(i)) &&
uIsFinite(cloud.at(i).normal_x) &&
uIsFinite(cloud.at(i).normal_y) &&
uIsFinite(cloud.at(i).normal_z))
uIsFinite(cloud.at(i).normal_z)))
{
float * ptr = laserScan.ptr<float>(0, oi++);
if(!nullTransform)
@@ -2153,7 +2153,7 @@ cv::Mat laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & clou
return laserScan(cv::Range::all(), cv::Range(0,oi));
}
cv::Mat laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform)
cv::Mat laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform, bool filterNaNs)
{
UASSERT(cloud.size() == normals.size());
cv::Mat laserScan(1, (int)cloud.size(), CV_32FC(5));
@@ -2161,7 +2161,7 @@ cv::Mat laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud,
int oi=0;
for(unsigned int i=0; i<cloud.size(); ++i)
{
if(pcl::isFinite(cloud.at(i)) && pcl::isFinite(normals.at(i)))
if(!filterNaNs || (pcl::isFinite(cloud.at(i)) && pcl::isFinite(normals.at(i))))
{
float * ptr = laserScan.ptr<float>(0, oi++);
if(!nullTransform)
@@ -2197,17 +2197,17 @@ cv::Mat laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud,
return laserScan(cv::Range::all(), cv::Range(0,oi));
}
cv::Mat laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const Transform & transform)
cv::Mat laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const Transform & transform, bool filterNaNs)
{
cv::Mat laserScan(1, (int)cloud.size(), CV_32FC(6));
bool nullTransform = transform.isNull();
int oi=0;
for(unsigned int i=0; i<cloud.size(); ++i)
{
if(pcl::isFinite(cloud.at(i)) &&
if(!filterNaNs || (pcl::isFinite(cloud.at(i)) &&
uIsFinite(cloud.at(i).normal_x) &&
uIsFinite(cloud.at(i).normal_y) &&
uIsFinite(cloud.at(i).normal_z))
uIsFinite(cloud.at(i).normal_z)))
{
float * ptr = laserScan.ptr<float>(0, oi++);
if(!nullTransform)
@@ -2239,7 +2239,7 @@ cv::Mat laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> &
return laserScan(cv::Range::all(), cv::Range(0,oi));
}
cv::Mat laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform)
cv::Mat laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform, bool filterNaNs)
{
UASSERT(cloud.size() == normals.size());
cv::Mat laserScan(1, (int)cloud.size(), CV_32FC(6));
@@ -2247,7 +2247,7 @@ cv::Mat laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud,
int oi=0;
for(unsigned int i=0; i<cloud.size(); ++i)
{
if(pcl::isFinite(cloud.at(i)) && pcl::isFinite(normals.at(i)))
if(!filterNaNs || (pcl::isFinite(cloud.at(i)) && pcl::isFinite(normals.at(i))))
{
float * ptr = laserScan.ptr<float>(0, oi++);
if(!nullTransform)