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Optimizer: fall back on g2o or gtsam first if one or the other is not available (instead of going TORO). ExportClouds: added ceiling and floor filtering options.

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This commit is contained in:
matlabbe
2020-11-22 01:23:08 -05:00
parent f5d7dc2814
commit 98a499b603
3 changed files with 100 additions and 45 deletions
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12
guilib/src/ExportCloudsDialog.cpp
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@@ -3209,6 +3209,18 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
UERROR("Cloud %d not found in cache!", iter->first);
}
}
if(!cloud->empty() &&
(_ui->doubleSpinBox_ceilingHeight->value() != 0.0 || _ui->doubleSpinBox_floorHeight->value() != 0.0))
{
float min = _ui->doubleSpinBox_floorHeight->value();
float max = _ui->doubleSpinBox_ceilingHeight->value();
indices = util3d::passThrough(
util3d::transformPointCloud(cloud, iter->second),
indices,
"z",
min!=0.0f&&min<max?min:std::numeric_limits<float>::lowest(),
max!=0.0f?max:std::numeric_limits<float>::max());
}
}
else if(_ui->checkBox_fromDepth->isChecked() && uContains(cachedClouds, iter->first))
{