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API change: segmentObstaclesFromGround() and normalFiltering()

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This commit is contained in:
matlabbe
2016-04-12 18:57:04 -04:00
parent fc76e5b8f3
commit 9339b86633
4 changed files with 30 additions and 24 deletions
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18
corelib/include/rtabmap/core/impl/util3d_mapping.hpp
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@@ -23,8 +23,9 @@ void segmentObstaclesFromGround(
const typename pcl::IndicesPtr & indices,
pcl::IndicesPtr & ground,
pcl::IndicesPtr & obstacles,
float normalRadiusSearch,
int normalKSearch,
float groundNormalAngle,
float clusterRadius,
int minClusterSize,
bool segmentFlatObstacles)
{
@@ -39,7 +40,7 @@ void segmentObstaclesFromGround(
indices,
groundNormalAngle,
Eigen::Vector4f(0,0,1,0),
normalRadiusSearch*2.0f,
normalKSearch,
Eigen::Vector4f(0,0,100,0));
if(segmentFlatObstacles)
@@ -48,7 +49,7 @@ void segmentObstaclesFromGround(
std::vector<pcl::IndicesPtr> clusteredFlatSurfaces = extractClusters(
cloud,
flatSurfaces,
normalRadiusSearch*2.0f,
clusterRadius,
minClusterSize,
std::numeric_limits<int>::max(),
&biggestFlatSurfaceIndex);
@@ -86,7 +87,7 @@ void segmentObstaclesFromGround(
std::vector<pcl::IndicesPtr> clusteredObstaclesSurfaces = util3d::extractClusters(
cloud,
otherStuffIndices,
normalRadiusSearch*2.0f,
clusterRadius,
minClusterSize);
// merge indices
@@ -100,8 +101,9 @@ void segmentObstaclesFromGround(
const typename pcl::PointCloud<PointT>::Ptr & cloud,
pcl::IndicesPtr & ground,
pcl::IndicesPtr & obstacles,
float normalRadiusSearch,
int normalKSearch,
float groundNormalAngle,
float clusterRadius,
int minClusterSize,
bool segmentFlatObstacles)
{
@@ -111,8 +113,9 @@ void segmentObstaclesFromGround(
indices,
ground,
obstacles,
normalRadiusSearch,
normalKSearch,
groundNormalAngle,
clusterRadius,
minClusterSize,
segmentFlatObstacles);
}
@@ -138,8 +141,9 @@ void occupancy2DFromCloud3D(
indices,
groundIndices,
obstaclesIndices,
cellSize,
20,
groundNormalAngle,
cellSize*2.0f,
minClusterSize);
pcl::PointCloud<pcl::PointXYZ>::Ptr groundCloud(new pcl::PointCloud<pcl::PointXYZ>);