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OccupancyGrid: added Grid/Footprint*** parameters, templated segmentCloud() function, added Grid/ClusterRadius parameter. Parameters: fixed getDefaultParameters(group) function to correctly compare groups.

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This commit is contained in:
matlabbe
2016-08-31 12:43:54 -04:00
parent 6fe7d5a856
commit c404234635
10 changed files with 522 additions and 114 deletions
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guilib/src/DatabaseViewer.cpp
+20 -8
View File
@@ -2338,8 +2338,6 @@ void DatabaseViewer::update(int value,
if(signatures.size() && signatures.front()!=0 && signatures.front()->getWords().size())
{
view->setFeatures(signatures.front()->getWords(), data.depthOrRightRaw().type() == CV_8UC1?cv::Mat():data.depthOrRightRaw(), Qt::yellow);
delete signatures.front();
signatures.clear();
}
Transform odomPose, g;
@@ -2421,6 +2419,14 @@ void DatabaseViewer::update(int value,
(!data.depthOrRightRaw().empty() ||
!data.laserScanRaw().empty()))
{
Transform pose = Transform::getIdentity();
if(signatures.size())
{
float x, y, z, roll, pitch, yaw;
(*signatures.begin())->getPose().getTranslationAndEulerAngles(x, y, z, roll, pitch, yaw);
pose = Transform(0,0,z,roll,pitch,0);
}
view3D->removeAllFrustums();
view3D->removeCloud("0");
view3D->removeCloud("1");
@@ -2474,14 +2480,14 @@ void DatabaseViewer::update(int value,
ui_->checkBox_mesh_quad->isChecked(),
ui_->spinBox_mesh_triangleSize->value(),
viewpoint);
view3D->addCloudMesh("0", cloud, polygons);
view3D->addCloudMesh("0", cloud, polygons, pose);
}
else
{
view3D->addCloud("0", cloud);
view3D->addCloud("0", cloud, pose);
}
}
view3D->updateCameraFrustums(Transform::getIdentity(), data.cameraModels());
view3D->updateCameraFrustums(pose, data.cameraModels());
}
else
{
@@ -2489,8 +2495,8 @@ void DatabaseViewer::update(int value,
cloud = util3d::cloudFromSensorData(data, 1, 0, 0, 0, ui_->parameters_toolbox->getParameters());
if(cloud->size())
{
view3D->addCloud("0", cloud);
view3D->updateCameraFrustum(Transform::getIdentity(), data.stereoCameraModel());
view3D->addCloud("0", cloud, pose);
view3D->updateCameraFrustum(pose, data.stereoCameraModel());
}
}
}
@@ -2499,7 +2505,7 @@ void DatabaseViewer::update(int value,
pcl::PointCloud<pcl::PointXYZ>::Ptr scan = util3d::laserScanToPointCloud(data.laserScanRaw(), data.laserScanInfo().localTransform());
if(scan->size())
{
view3D->addCloud("1", scan);
view3D->addCloud("1", scan, pose);
}
//add occupancy grid
@@ -2533,6 +2539,12 @@ void DatabaseViewer::update(int value,
view3D->update();
}
if(signatures.size())
{
UASSERT(signatures.front() != 0 && signatures.size() == 1);
delete signatures.front();
signatures.clear();
}
}
if(!img.isNull())