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CameraImages: moved scan filtering stuff to CameraThread

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Preferences->Source: refactored scan filtering parameters
OdometryF2M and OdometryF2F: moved odom orientation init from IMU to OdometryROS instead
This commit is contained in:
matlabbe
2019-01-15 15:41:07 -05:00
parent 42c8ed0c0f
commit 9da2c1918f
12 changed files with 210 additions and 269 deletions
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17
corelib/include/rtabmap/core/camera/CameraImages.h
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@@ -76,21 +76,11 @@ public:
void setScanPath(
const std::string & dir,
int maxScanPts = 0,
int downsampleStep = 1,
float voxelSize = 0.0f,
int normalsK = 0, // compute normals if > 0
float normalsRadius = 0, // compute normals if > 0
const Transform & localTransform=Transform::getIdentity(),
bool forceGroundNormalsUp = false)
const Transform & localTransform=Transform::getIdentity())
{
_scanPath = dir;
_scanLocalTransform = localTransform;
_scanMaxPts = maxScanPts;
_scanDownsampleStep = downsampleStep;
_scanNormalsK = normalsK;
_scanNormalsRadius = normalsRadius;
_scanVoxelSize = voxelSize;
_scanForceGroundNormalsUp = forceGroundNormalsUp;
}
void setDepthFromScan(bool enabled, int fillHoles = 1, bool fillHolesFromBorder = false)
@@ -152,11 +142,6 @@ private:
std::string _scanPath;
Transform _scanLocalTransform;
int _scanMaxPts;
int _scanDownsampleStep;
float _scanVoxelSize;
int _scanNormalsK;
float _scanNormalsRadius;
bool _scanForceGroundNormalsUp;
bool _depthFromScan;
int _depthFromScanFillHoles; // <0:horizontal 0:disabled >0:vertical